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jetson_stereo_csi_ros

ROS Package for Jetson CSI Stereo Camera and GPU Accelerated Depth Processing

Tested on JetPack 4.4 (OpenCV 4.1, VisionWorks 1.6)

Tested Stereo Module

Waveshare IMX219-83 Stereo Camera

Installation

Step 1 ROS Installation

  1. Do steps 1.2 and 1.3 from http://wiki.ros.org/melodic/Installation/Ubuntu
  2. Install non-opencv dependent ros packages:
$ sudo apt-get install ros-melodic-ros-base ros-melodic-image-transport ros-melodic-image-common ros-melodic-tf ros-melodic-tf-conversions ros-melodic-eigen-conversions ros-melodic-laser-geometry ros-melodic-pcl-conversions ros-melodic-pcl-ros ros-melodic-move-base-msgs ros-melodic-rviz ros-melodic-octomap-ros ros-melodic-move-base ros-melodic-slam-toolbox ros-melodic-rqt ros-melodic-rqt-reconfigure libgtk2.0-dev libhdf5-openmpi-dev libsuitesparse-dev
  1. Do step 1.5 and 1.6 from http://wiki.ros.org/melodic/Installation/Ubuntu

Step 2 Build OpenCV Dependent Packages from Source

$ cd ~/catkin_ws/src
$ git clone -b opencv4 https://github.com/fizyr-forks/vision_opencv.git
$ git clone -b melodic https://github.com/ros-perception/image_pipeline.git
$ git clone -b indigo-devel https://github.com/ros-perception/image_transport_plugins.git
$ git clone https://github.com/ros-drivers/gscam.git
$ git clone https://github.com/ros-visualization/rqt_image_view.git
$ catkin_make

Step 3 Install gpu_stereo_image_proc

https://github.com/WHILL/gpu_stereo_image_proc

Modify CMakeLists.txt before build

Change line 24 to find_package(OpenCV REQUIRED)

Step 4 Clone This Repo

$ cd ~/catkin_ws/src
$ git clone https://github.com/borongyuan/jetson_csi_stereo_ros.git

Step 5 Test Camera

$ roslaunch jetson_csi_stereo_ros jetson_csi_stereo.launch

For Jetson Xavier NX Dev Kit, if your left camera is CAM1 and right camera is CAM0, modify sensor-id in launch file.

Step 6 Stereo Camera Calibration

http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration

Then update cfg/left.yaml and cfg/right.yaml

Step 7 Stereo Image Processing using VisionWorks

$ roslaunch jetson_csi_stereo_ros jetson_csi_stereo_pipeline.launch

To view pointcloud in RVIZ, set Fixed Frame to stereo_left_optical_frame

Step 8 Tuning Parameters

$ rosrun rqt_reconfigure rqt_reconfigure