Projected Texture Stereo - ROS application package?

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Hello,

I read the paper "Projected Texture Stereo" from Kurt Konolige, where the author says, that the stereo algorithms and the pattern generators are available under open source BSD license as part of the ROS application packages.

Unluckily I am not able to find them. Can anybody help me? I would like to have a sample code, because my self written algorithm delivers not as good results as the ones in the paper.

Thanks

Jan