gz_stereo
[Drivers]

Todo:: This driver is currently disabled because it needs to be updated to the Player 2.0 API.

The gz_stereo driver is used to access Gazebo models that support the libgazebo stereo interface (such as the StereoHead model).

Compile-time dependencies

Gazebo

Provides

This driver provides four named camera interfaces:

"left" camera
- Left camera image (RGB)

"right" camera
- Right camera image (RGB)

"left_disparity" camera
- Left disparity image; this is a 16-bit monochrome image (MONO16), with each pixel recording the horizontal disparity in the rectified image.

"right_disparity" camera
- Right disparity image; this is a 16-bit monochrome image (MONO16), with each pixel recording the horizontal disparity in the rectified image.

Requires

none

Configuration requests

none

Configuration file options

gz_id (string)
- Default: ""
- ID of the Gazebo model.

save (integer)
- Default: 0
- Save images to disk (for debugging).

Example

driver
(
  name gz_stereo
  provides ["left::camera:0" "right::camera:1" "left_disparity::camera:2"]
  gz_id "stereo1"
)

Authors

Andrew Howard

Last updated 12 September 2005 21:38:45