/drone

Primary LanguageCMake

ROS Depth Map Generator

This Depth Map Generator is based on ROS package.
Producing Depth Map with ROS nodelet which reduce the data transfer time.
Test environment is Raspberry Pi 3.

Prerequisite

  1. Install ROS

Install ROS framework from http://www.ros.org/install/.
DISTRO Indigo and kinetic is tested and recommanded on this project.
Bare version is enough to proceed.

  1. Setup Workspace

Setting up the ROS environment on the computer following http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

ps.Inside the tutorial use catkin_make ultility.But we used to use catkin tools,which provides much more feature and easy to use. To install catkin tools

sudo apt-get install python-catkin-tools
  1. Setup camera node
$ cd $CATKIN_WS/src
$ git clone https://github.com/ktossell/camera_umd

# jpeg_streamer package is useless to us.Put it into blacklist
$ catkin config --blacklist  jpeg_streamer

# build workspace
$ catkin build

# Test
  1. Install required image_pipeline packages
$ sudo apt-get install ros-DITRO-image_view
$ sudo apt-get install ros-DITRO-camera_calibration
$ sudo apt-get install ros-DITRO-stereo_image_proc
  1. Camera test

The final performance is 0.5 fps.