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.

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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