load calibration parameters into camera_info

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Hi Alessandro,

Do you have any example of using the camera_info_manager as I can't seem to find any example online. Do you mean that the camera is factory calibrated?

And I have managed to sync the left and right IR stream topic and would like to generate the disparity map through stereo_image_proc. However, the disparity window freeze after using the image_view disparity view method. Is this the proper method?

The stereo_image_proc node is designed to elaborate two images taken at same time from two different and separated camera (like two webcam) in order to create a disparity map and 3D point cloud.

The RealSense R200 instead is a stereo camera and produce those info by itself.

This means that the algorithm provided in stereo_image_proc is INSIDE the RealSense. Look at the topic published by the realsense_camera node: depth/camera_info (sensor_msgs/CameraInfo) depth/image_raw (sensor_msgs/Image) - basically the disparity map depth/points (sensor_msgs/PointCloud2)

Ok, thanks for the above infor! That clearly clarify some of my doubts on the Realsense camera!

Btw, I am working on my final year project (vision-based obstacle detection in GPS-denied outdoor environment) using the RealSense R200 through selecting appropriate stereo detector and stereo matching algorithms. After which, I will generate the disparity/depth map to detect any nearby obstacle.

Just to check is there any feature detector function and stereo matching algorithms that is inside the ROS package? Or I can just use the OpenCV library in ROS?

I guess this is a task for the Point Could Library. As OpenCV also PCL has a porting in ROS: see its wiki page. More info about PCL here.