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StereoProcessing_ROS

The repository is used to store my ROS package for stereo processing in my research, especially for registration.

Stereo camera driver

blackmagic_camera_driver is the driver that I used to publish both the stereo camera streams, CameraInfo, tf information into ROS 1. The driver is modified from https://github.com/calderpg/blackmagic_camera_driver.

Registration using PCL (C++)

As PCL has full support for C++, I tried several registraiton by PCL in C++ by the experimental package my_pcl_tutorial. By the command rosrun my_pcl_tutorial example, it will subscribe the point cloud topic published by stereo_image_proc and register the point cloud to pre-operative CT scanned model in ./stl folder. After registraiton, the program will publish the transformed model point cloud into ROS as topic "/PclTutorial/points2".

Registration and experimental stereo processing program mainly in Python

Except for PCL, I tried to use Open3D in my research to compare the performance between the two libraries. Also I tried to segment the point cloud by U-net in the sript segmentation_main.py. The on-going package stereo_camera is a kind of experimental platform that I tried many different stereo processing methods by ROS.