README for using the bumblebee_xb3 ros package 0. If you don't have camera calibration files, you can use the ones in ./calibration_files/ These need to be copied to the default directory where ros stores camera calibration files, usually ~/.ros/camera_info/ 1. Start ros: ---------------------------------------------------------------------- $ roscore ---------------------------------------------------------------------- 2. In another terminal tab, launch the camera1394 driver node (Ctrl+Shift+Tab to launch a new terminal tab and Alt+tab_number to move to a tab quickly) ------------------------------------------------------------------------------------------------------------------- $ roslaunch ~/catkin_ws/src/bumblebee_xb3/launch/camera1394_24bit.launch ------------------------------------------------------------------------------------------------------------------- For reference, the contents of the above launch file. It starts a camera1394 node with some parameters. <!-- -*- mode: XML -*- --> <launch> <node pkg="camera1394" type="camera1394_node" name="camera1394_node" output="screen"> <param name="video_mode" value="format7_mode3" /> <param name="format7_color_coding" value="rgb8" /> <param name="bayer_pattern" value="gbrg" /> <param name="bayer_method" value="" /> <param name="frame_id" value="camera_frame" /> <param name="frame_rate" value="15.0" /> <param name="iso_speed" value="800" /> </node> </launch> once this node is launched, it will publish a interlaced (combined) bayered image which you can view by: ----------------------------------------------------------------------------------------------------- $ rosrun rqt_image_view rqt_image_view image:=/camera/image_raw ----------------------------------------------------------------------------------------------------- 3. Next run the deinterlacer (& debayering) node (this package's node): Note that this node only does deinterlacing. debayering is handled by stereo_image_proc. ---------------------------------------------------------------------- $ rosrun bumblebee_xb3 bumblebee_xb3_node ---------------------------------------------------------------------- Now running ---------------------------------------------------------------------- $ rostopic list ---------------------------------------------------------------------- should show you a lot more image streams, which you can again view with rqt_image_view 4. Now start the stereo_image_proc node in any of the THREE stereo_camera namespaces, say: ------------------------------------------------------------------------------------- $ ROS_NAMESPACE=/camera/stereo_camera_LC/ rosrun stereo_image_proc stereo_image_proc ------------------------------------------------------------------------------------- You should see that the point cloud topic is now published /camera/stereo_camera_LC/points2 5. To view the point cloud, start rviz: ---------------------------------------------------------------------- $ rosrun rviz rviz ---------------------------------------------------------------------- COMMENTS: stereo_image_proc uses a lot of cpu resources. consider using stereo_image_proc_gpu when it becomes available. Steps 1-4 can be combined into a single launch file for convenience.