prbhagwat's profile - activity

Even when using a stereo camera, there is no such thing as a "stereo camera info" message. Instead, the left and right cameras publish each publish their respective camera info. If you are writing a stereo camera driver node, then you should use a separate CameraInfoManager for each half. If you want to do your own stereo processing, then you should use the TimeSynchronizer class in the message_filters package to synchronize the cameras' image and camera_info topics.

Hi, Is it possible to use single CameraInfoManager object to get the calibration data for both left and right stereo camera? It looks from CameraInfoManager that we can get camera calibration parameter for only one camera and not both. Is there any other message for stereo camera which can get both left and right calibration parameters?

Warm Regards,

pramod

disparity_view expects disparities to have type float, so you'll need to convert your uint8_t disparity values. In your DisparityImage message, resize image.data to width * size * sizeof(float), and get a float pointer to your data buffer: float* ptr = reinterpret_cast<float*>(&image.data[0]). Then copy the disparities over one by one. You may need to scale the uint8_t disparities down by some factor if the custom SDK does sub-pixel correspondence like OpenCV's block matcher. The float disparities are in pixels. Don't forget to set image.encoding = sensor_msgs::image_encodings::TYPE_32FC1.

Hi, I am new to opencv. Need some help in publishing the disparity image in ROS. i am getting left, right and disparity images from the custom stereo camera SDK. The disparity image that i am getting from SDK is mono8 format. Now i want to publish the disparity image from the ROS so that "disparity_view" can display the disparity image. It looks the disparity_view expects the images to be in TYPE_32FC1 format, but the disparity image that i have is mono8 format because of this it is not able to display disparity image.

Is there any sample program or tutorial which will guide to publish disparity image in TYPE_32FC1 format from mono8 format.

Warm Regards, pramod