Viewing stereo usb cameras on ROS

Download and install the uvc_camera drivers

Edit the uvcCameraLaunch.launch to contain the following:

<!--xml-->

<launch>

      <node pkg="uvc_camera" type="stereo_node" name="uvc_camera_stereo">

        <param name="width" type="int" value="320" />

        <param name="height" type="int" value="240" />

        <param name="fps" type="int" value="30" />

        <param name="frame" type="string" value="wide_stereo" />

    <param name="right/device" type="string" value="/dev/video1" />

        <param name="left/device" type="string" value="/dev/video2" />

     </node>

</launch>

launch this stack by:  ROS_NAMESPACE=stereo roslaunch UAVcam uvcCameraLaunch.launch

View the published messages: rostopic list

make sure the ros_namespace precedes the /left and /right image stream messages.

To view each stream:

$ rosrun image_view image_view image:=/stereo/left/image_raw

$ rosrun image_view image_view image:=/stereo/right/image_raw 

If you have a built-in webcam, I disabled it using the following:

by adding "blacklist uvcvideo" to the end of the file /etc/modprobe.d/blacklist.conf

I made sure uvcvideo was the name of the driver being used for this webcam using hwinfo 

(you must restart for the webcam to be disabled)

Then run the camera_calibration.

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