双目相机模块
stereo_camera_device
语言：English / 中文
读取双目相机设备，发布标定数据以及双目的图像信息。通过外部参数的标定与激光雷达共同组成 RGBD 的传感器信息。
Basic Information
Installation method |
Supported platform[s] |
|---|---|
Source |
Jetpack 5.1.2 , ros-humble |
Published
ROS Topic |
Interface |
Frame ID |
Description |
|---|---|---|---|
camera/left_raw |
sensor_msgs::msg::Image |
left_cam_raw |
左目相机图像 |
camera/image_raw |
sensor_msgs::msg::Image |
right_cam_raw |
右目相机图像 |
camera/left_info |
sensor_msgs::msg::CameraInfo |
left_cam_raw |
左目相机标定数据 |
camera/right_info |
sensor_msgs::msg::CameraInfo |
right_cam_raw |
右目相机标定数据 |
Service
Service Topic |
Call Interface |
Return Interface |
Description |
|---|---|---|---|
camera/reset |
std_msgs::msg::Int8 |
std_msgs::msg::Int8 |
重启相机的服务，返回1 则重启成功 |
Build Package
# if have extra dependencies
# apt install <libdepend-dev>
colcon build --packages-select stereo_camera_device