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ROS node to split side-by-side stereo

Subscribes to an image stream of side-by-side stereo where each image message consists of a left and right image concatenated to form a single double-wide image. This node splits the incoming image down the middle and republishes each half as stereo/left and stereo/right images.

The node also provides a CameraInfoManager for the left and right outputs, so that it appears to the stereo imaging pipeline and camera calibration code as two cameras.

This is a modified version of public domain code posted by user PeteBlackerThe3rd in response to my question on ROS Answers: https://answers.ros.org/question/315298/splitting-side-by-side-video-into-stereoleft-stereoright/

Parameters

  • input_image_topic -- ROS topic of concantenated stereo images.
  • left_output_image_topic -- defaults to /sxs_stereo/left/image_raw
  • right_output_image_topic -- defaults to /sxs_stereo/right/image_raw
  • left_camera_info_topic -- defaults to /sxs_stereo/left/camera_info
  • right_camera_info_topic -- defaults to /sxs_stereo/right/camera_info
  • output_width -- output images are rescaled to this width. If 0 or not set, it will be 1/2 of the input_image_topic width.
  • output_height -- output images are rescaled to this height. If 0 or not set, it will be the same as the input_image_topic height.

License

MIT