I have two monocular USB cameras and I want to use ROS to make it a stereo camera. I am having a hard time finding a ROS package that consumes 2 monocular camera image streams and publishes a depth map or point cloud. These are the ROS topics available for the 2 ROS cameras:


How can I do this? Any help is truly appreciated!


1 Answer 1


You can write a simple node which subscribes to the 2 RGB feeds, uses blob matching (look up Stereo matching in OpenCV or Stereo Binary SGBM) to create the stereo image, and publishes it.

Alternately, I think OpenCV contains the functionality for image_to_pointcloud conversion.


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