pgstereo

14137639.yaml

image_width: 1280
image_height: 960
camera_name: 14137639
camera_matrix:
  rows: 3
  cols: 3
  data: [1214.40086106745, 0, 608.015171891804, 0, 1210.28487583331, 473.81047351168, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.305982846402342, 0.118177078455821, -0.00011382700430081, 0.000172165136507537, 0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [0.999926436492223, -0.00375394565993053, -0.0115338413352267, 0.00372371252882844, 0.999989577870599, -0.00264161223175394, 0.0115436375968125, 0.00259846919600649, 0.999929993743997]
projection_matrix:
  rows: 3
  cols: 4
  data: [1168.76146806506, 0, 637.481414794922, -108.648148777126, 0, 1168.76146806506, 470.333045959473, 0, 0, 0, 1, 0]

14137651.yaml

image_width: 1280
image_height: 960
camera_name: 14137651
camera_matrix:
  rows: 3
  cols: 3
  data: [1217.81154260755, 0, 626.07966825342, 0, 1213.25156796285, 468.538258641717, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.309919937550201, 0.132729580432602, 0.000167929789540437, -3.4544193089263e-05, 0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [0.99974120605241, -0.00426152129180926, -0.0223463723487991, 0.00432005993307871, 0.999987360912034, 0.00257198335152166, 0.0223351293492186, -0.00266785540563069, 0.99974698026275]
projection_matrix:
  rows: 3
  cols: 4
  data: [1168.76146806506, 0, 637.481414794922, 0, 0, 1168.76146806506, 470.333045959473, 0, 0, 0, 1, 0]

pgstereo.launch

<launch>
  <node pkg="nodelet" type="nodelet" name="manager" args="manager"
        output="screen" />
  <group ns="left">
    <node pkg="nodelet" type="nodelet"
          args="load pointgrey_camera_driver/PointGreyCameraNodelet /manager"
          name="driver" respawn="true">
      <param name="serial" value="14137651" />
    </node>
    <node pkg="image_view" type="image_view" name="image_view">
      <remap from="image" to="image_raw" />
    </node>
    <node pkg="image_view" type="image_view" name="image_view_rect">
      <remap from="image" to="image_rect" />
    </node>
  </group>
  <group ns="right">
    <node pkg="nodelet" type="nodelet"
          args="load pointgrey_camera_driver/PointGreyCameraNodelet /manager"
          name="driver" respawn="true">
      <param name="serial" value="14137639" />
    </node>
    <node pkg="image_view" type="image_view" name="image_view">
      <remap from="image" to="image_raw" />
    </node>
    <node pkg="image_view" type="image_view" name="image_view_rect">
      <remap from="image" to="image_rect" />
    </node>
  </group>
  <include file="$(find stereo_image_proc)/launch/stereo_image_proc.launch">
    <arg name="manager" type="/manager"/>
    <arg name="left" type="half/left_1_2" />
    <arg name="right" type="half/right_1_2" />
  </include>
  
  <node pkg="nodelet" type="nodelet"
        args="load stereo_image_proc/stereo_image_proc /manager"
        name="stereo_image_proc" output="screen">
    <param name="approximate_sync" value="true" />
    <remap from="point2" to="~points2" />
    <remap from="disparity" to="~disparity" />
  </node>
  <node pkg="image_view" type="disparity_view" name="disparity_view">
    <remap from="image" to="stereo_image_proc/disparity" />
  </node>
  <node pkg="rqt_reconfigure" type="rqt_reconfigure" name="rqt_reconfigure" respawn="true"/>
  <group ns="half">
    <group ns="left_1_2">
      <node pkg="nodelet" type="nodelet" args="load resized_image_transport/ImageResizer /manager"
            name="image_resizer">
        <param name="resize_scale_x" value="0.5" />
        <param name="resize_scale_y" value="0.5" />
        <remap from="~input/image" to="/left/image_raw" />
        <remap from="~output/image" to="image_raw" />
      </node>
    </group>
    <group ns="right_1_2">
      <node pkg="nodelet" type="nodelet" args="load resized_image_transport/ImageResizer /manager" name="image_resizer">
        <param name="resize_scale_x" value="0.5" />
        <param name="resize_scale_y" value="0.5" />
        <remap from="~input/image" to="/right/image_raw" />
        <remap from="~output/image" to="image_raw" />
      </node>
    </group>
    <node pkg="nodelet" type="nodelet"
          args="load stereo_image_proc/stereo_image_proc /manager"
          name="stereo_image_proc_2" output="screen">
      <param name="approximate_sync" value="true" />
      <remap from="left/image_raw" to="left_1_2/image_raw"/>
      <remap from="left/camera_info" to="left_1_2/camera_info"/>
      <remap from="right/image_raw" to="right_1_2/image_raw"/>
      <remap from="right/camera_info" to="right_1_2/camera_info"/>
      
      <remap from="point2" to="~points2" />
      <remap from="disparity" to="~disparity" />
    </node>
    <node pkg="image_view" type="disparity_view" name="disparity_view2">
      <remap from="image" to="stereo_image_proc_2/disparity" />
    </node>
  </group>
  <group ns="quater">
    <group ns="left_1_4">
      <node pkg="nodelet" type="nodelet" args="load resized_image_transport/ImageResizer /manager"
            name="image_resizer">
        <param name="resize_scale_x" value="0.25" />
        <param name="resize_scale_y" value="0.25" />
        <remap from="~input/image" to="/left/image_raw" />
        <remap from="~output/image" to="image_raw" />
      </node>
    </group>
    <group ns="right_1_4">
      <node pkg="nodelet" type="nodelet" args="load resized_image_transport/ImageResizer /manager"
            name="image_resizer">
        <param name="resize_scale_x" value="0.25" />
        <param name="resize_scale_y" value="0.25" />
        <remap from="~input/image" to="/right/image_raw" />
        <remap from="~output/image" to="image_raw" />
      </node>
    </group>
    <node pkg="nodelet" type="nodelet"
          args="load stereo_image_proc/stereo_image_proc /manager"
          name="stereo_image_proc_4" output="screen">
      <param name="approximate_sync" value="true" />
      <remap from="left/image_raw" to="left_1_4/image_raw"/>
      <remap from="right/image_raw" to="right_1_4/image_raw"/>
      <remap from="left/camera_info" to="left_1_4/camera_info"/>
      <remap from="right/camera_info" to="right_1_4/camera_info"/>
      <remap from="point2" to="~points2" />
      <remap from="disparity" to="~disparity" />
    </node>
    <node pkg="image_view" type="disparity_view" name="disparity_view4">
      <remap from="image" to="stereo_image_proc_4/disparity" />
    </node>
  </group>
  
  <!-- <node pkg="nodelet" type="nodelet" name="manager" args="manager" output="screen" /> -->
  <!-- <node pkg="nodelet" type="nodelet" name="disparity" args="load stereo_image_proc/disparity" /> -->
</launch>