ROS Package for Jetson CSI Stereo Camera and GPU Accelerated Depth Processing
Tested on JetPack 4.4 (OpenCV 4.1, VisionWorks 1.6)
Waveshare IMX219-83 Stereo Camera
- Do steps 1.2 and 1.3 from http://wiki.ros.org/melodic/Installation/Ubuntu
- 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
- Do step 1.5 and 1.6 from http://wiki.ros.org/melodic/Installation/Ubuntu
$ 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
https://github.com/WHILL/gpu_stereo_image_proc
Modify CMakeLists.txt before build
Change line 24 to find_package(OpenCV REQUIRED)
$ cd ~/catkin_ws/src
$ git clone https://github.com/borongyuan/jetson_csi_stereo_ros.git
$ 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.
http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration
Then update cfg/left.yaml and cfg/right.yaml
$ roslaunch jetson_csi_stereo_ros jetson_csi_stereo_pipeline.launch
To view pointcloud in RVIZ, set Fixed Frame to stereo_left_optical_frame
$ rosrun rqt_reconfigure rqt_reconfigure