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Disparity Package for ROS2 Humble

Overview

This package calculates the disparity between a pair of stereo images, which is useful for 3D perception in robotics applications.

Requirements

  • ROS2 Humble
  • OpenCV 4.5.4
  • Python 3.10

Installation

  1. Clone the repository: 
    cd ~/ros2_ws/src
git clone https://github.com/Projeto-Voris/disparity.git
  2. Install dependencies and build: 
    cd ~/ros2_ws
rosdep install -i --from-path src --rosdistro humble -y
colcon build --packages-select disparity

Usage

Disparity Node

The disparity node requires a YAML configuration file for OpenCV StereoBM. The settings should be placed in disparity/cfg/<file>.yaml. You can pass the YAML file as a launch argument:

ros2 launch disparity disparity.launch.py --ros-args yaml_file:=<file_name> left_image:=<left_img_topic> right_image:=<right_img_topic>

PointCloud Node

The PointCloud node constructs a sensor_msgs::PointCloud2 message from the disparity image.

  • Grayscale Image PointCloud: 
    ros2 launch disparity triangulation.launch.py --ros-args yaml_file:=<file_name> disparity:=<disparity_img_topic>
  • Colored Image PointCloud: 
    ros2 launch disparity triangulation_rgb.launch.py --ros-args yaml_file:=<file_name> disparity:=<disparity_img_topic> left_image:=<left_img_topic>

License

This project is licensed under the Apache-2.0 License.