Raspicam Stereo ROS

ROS node based on the Arducam Stereo Hat (link)

Original Implementation

Based on ArduCAM/MIPI_Camera (link )

Current developement is based on the Raspberry Pi4 - 4Gb and Sony IMX219 sensor: Raspberry Pi NoIR Camera Module V2 - 8MP (link)

mode: 7, 1600x600
mode: 8, 2560x720
mode: 9, 3840x1080
mode: 10, 5184x1944
mode: 11, 6528x1848
mode: 12, 6528x2464

Setup inside config/params.yaml:

node_rate_loop: 30
width: 1600
height: 600
quality: 50
auto_exposure: false
exposure_value: 1
auto_wb: true
auto_wb_compensation: false
red_gain: 10
blue_gain: 50
binning: 2 # 2: no-binning, 1: x2-binning 0: x4-binning 3: x2 analog (special) - not working
binning_type: 1 # 0 :average, 1: sum