Stereo Cameras & ROS

[sftp]

Hi all,

What is the best way to simulate a stereo camera and output an appropriate camera_info ROS topic in V-REP? Currently I have two vision sensors set 20 cm apart on a rover. I can publish both of their raw image topics, as well as a traditional monocular "camera_info" through the ROS API and simros_strmcmd_get_vision_sensor_image & simros_strmcmd_get_vision_sensor_info.

However, in order to simulate a calibrated stereo camera, I need to intercept the right camera_info and add a stereo baseline term to the projection matrix (i.e. 'calibrate the stereo camera'). Short of writing my own ROS node to do this, is there any way I can do this in V-REP?

Thanks for the help!

[coppelia]

Hello,

there is probably a ROS message for stereo cameras, and implementing that would probably be much cleaner. On the other hand, you could also simply retrieve the transformation between camera 2 and camera 1 with the topic simros_strmcmd_get_object_pose:

• auxInt1: handle of camera 2
• auxInt2: handle of camera 1
• auxString: empty

Cheers