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
