Overview
This package contains a number of ROS 2 components, nodes, and launch files for stereo image processing.
If porting from ROS 1, please note that the stereo_image_proc node no
longer exists and instead you should use stereo_image_proc.launch.py.
See the Configuration page for more detail.
DisparityNode can compute disparity images from incoming stereo
pairs using
OpenCV’s block matching
algorithm. These are best inspected
using stereo_view which is available in the image_view package.
PointCloudNode can produce point clouds, which you can view in rviz,
and process with PCL.
The image below shows the left/image_raw and right_image_raw. These are the raw images from each camera.
Below are the left/image_rect_color and right/image_rect_color. These are the rectified images from each camera. The red lines show that the same point in the real world lies on the same horizontal line in each rectified image.
The resulting disparity image is shown below,
viewed with stereo_view from the image_view package.
