Jeff,

You should take a look at http://www.ros.org/wiki/uvc_stereo . You should
also be able to use two individual camera driver nodes (uvc_cam is the one
I've used for monocular vision) as long as they output the topics required
by stereo_image_proc (which is basically an image and camera_info for each).
One thing to watch for is that, while you may not really care about the
timestamps being correct, stereo_image_proc will likely require both images
and camera_infos to have very close, if not the same, timestamps.

Hope that helps.

- Eric

On Thu, Oct 7, 2010 at 9:13 AM, Jeff Hyams <jeff.hyams@resquared.com> wrote:

> I am trying to create a really simple stereo test with two cheap usb
> cameras.  I understand the basics of using the stereo_proc and calibration
> packages, but what I want to know is what is the best way to go about
> creating the actual stereo node that publishes the images.  Is it possible
> to use two gscam or usb_cam(or something similar) and remap the topics to
> look like a stereo camera?  I am not really sure how the calibration data
> would get stored used if I did this.
>
> Or would it make more sense to write an intermediate node that grabs images
> from two running usb_cam nodes and publishes them as left/right stereo image
> topics (and receives/processes/publishes the calibration data correctly)?
> Is there already a package to do this somewhere?
>
> At this point, my test will be static, so I am not concerned about syncing
> images or timestamps being absolutely correct.
>
> Thanks,
>
> Jeff Hyams
> RE2, Inc.
>
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