vid_rectify

Ros Node for rectifying Stereo images.

Pre-requisites

1. Robot Operating System (ROS)
2. OpenCV

How to use?

1. Clone the repo inside the ros workspace (catkin workspace)

2. build the package.

$ cd catkin_ws

OR

$ cd <ROS Workspace>

$ catkin_make --pkg vid_rectify

3. Make sure the stereo topics to be rectified are up and running.

4. Launch the vid_rectify node.

$ roslaunch vid_rectify vid_rectify_640x480.launch

By default the argument values of the launch file are, 640x480 resolution:

• stereo_param -> yaml/m210_stereo_param_640x480.yaml
• left_stereo_topic -> /dji_osdk_ros/stereo_vga_front_left_images
• right_stereo_topic -> /dji_osdk_ros/stereo_vga_front_right_images
• display -> false

Optional

To specify these arguments with different file_path and topic names to use, use the following command:

$ roslaunch vid_rectify vid_rectify_<resolution>.launch stereo_param:=<absolute_path_to_file> left_stereo_topic:=<left_topic_name> right_stereo_topic:=<right_topic_name> display:=<true or false>

Change the respective resolution values (width and height) inside vid_rectify_.launch.

Note

For DJI M210 RTK v2 and DJI ROS onboard sdk, 240p stereo topics cannot be subscribed by ros camera_calibration node for unknown reasons. Nevertheless, the topic can be brought up, listed as one of the rostopics and visualized over rqt_image_view.