This ROS node runs images through the Reprojection shader.
First clone this repository on your machine
cd <catkin_ws>/src
git clone https://github.com/DanielArnett/reprojection_ros.git
Also clone this repository, which reprojection depends on.
git clone https://github.com/DanielArnett/opengl_ros.git
cd opengl_ros && git checkout image_blending
Then build your catkin workspace.
source <catkin_ws>/devel/setup.bash
cd <catkin_ws>
catkin_make
To run the dual-fisheye blending node run
roslaunch reprojection dual_fisheye_to_equi.launch
This will open three image windows, one with the raw input, one with the left camera output, and one with the right camera input. It will also open the rqt_reconfigure window, where you may enter parameters for the camera. For now you should click on the left_equi and right_equi dropdown icons, and select both of the reprojection nodes. This will open all of the reprojection parameters for both cameras. At the top of each parameter list you'll se a Save and a Load icon. Click the load icon and navigate to the reprojection_ros/cfg directory. Here you'll find a saved .yaml config file for each camera which you can use as a starting point.