## page was renamed from stereo-anaglyph
## repository: http://gt-ros-pkg.googlecode.com/svn
<<PackageHeader(stereo_anaglyph)>> <<TOC(4)>>

## AUTOGENERATED DON'T DELETE
## CategoryPackage
== Samples ==
|| ||<style="text-align: center;"> {{attachment:table_top.png}} || ||
|| ||<style="text-align: center;"> A table top scene during teleoperation. || ||

|| ||<style="text-align: center;"> {{attachment:room_narrow.png}} || ||
|| ||<style="text-align: center;"> A view through the narrow stereo cameras. || ||

== Requirements ==
 * A functioning ROS install, and checked out copy of gt-ros-pkg.
 * Images captured by a stereo pair published on topics: /CAMERA_NAME/left/image_rect_color and /CAMERA_NAME/right/image_rect_color
 * [[http://www.berezin.com/3d/3dglasses.htm|Red-cyan stereo glasses]].

== Running ==
If you are on a machine configured to communicate with a PR2, run this node by executing:
{{{
rosrun stereo_anaglyph red-cyan-anaglyph.py -d /wide_stereo -d 20
}}}
If you are not on a PR2, replace `/wide_stereo` with a topic of your choice.  The -d option here controls the separation distance.  To get a feel for what this should be, launch the node then press the left and right arrow key while the `stereo-anaglyph` window has focus.  The goal here is to control the image separation such that the disparity presented to you eye is not too large.  A large disparity typically results in seeing double instead of true depth.

|| ||<style="text-align: center;"> {{attachment:room_wide.png}} || ||
|| ||<style="text-align: center;"> Typical images from from /wide_stereo. || ||

One thing to note on the `/wide_stereo` images is that it'll be difficult to adjust the disparity such that subjects far away and subjects close up has appropriate disparity for stereo integration.  This is a known limitation of the system.

=== Tweak for Higher Frame Rates ===
To view video at higher frame rates interleave two [[http://www.ros.org/wiki/image_transport#republish|republish]] nodes, one for each image stream.  The two launch files provided `pr2_narrow_stereo_view.launch` and `pr2_wide_stereo_view.launch` does this by default.  Run them with the command:

{{{
roslaunch stereo_anaglyph pr2_wide_stereo_view.launch
}}}
For reference, this launch file contains:

{{{
<launch>
    <node pkg="image_transport" name="left_cam_republish_wide"  type="republish" args="theora in:=/wide_stereo/left/image_rect_color raw out:=/wide_stereo_raw/left/image_rect_color" respawn="true"/>
    <node pkg="image_transport" name="right_cam_republish_wide" type="republish" args="theora in:=/wide_stereo/right/image_rect_color raw out:=/wide_stereo_raw/right/image_rect_color" respawn="true"/>
    <node pkg="stereo_anaglyph" name="anaglyph_view_wide" type="red-cyan-anaglyph.py" args="-c /wide_stereo_raw -d 56"/>
</launch>
}}}
== Command Line Interface ==
{{{
./red-cyan-anaglyph.py --help
Usage: red-cyan-anaglyph.py [options]

Options:
  -h, --help  show this help message and exit
  -c CAM      which camera to listen to
  -d DIST     separation distance
}}}
== ROS API ==
{{{
#!clearsilver CS/NodeAPI
name=red_cyan_anaglyph.py
desc=Displays images in red-cyan anaglyph mode
sub {
 0.name = /CAMERA_NAME/left/image_color_rect
 0.type = sensor_msgs/Image
 0.desc = left image

 1.name = /CAMERA_NAME/right/image_color_rect
 1.type = sensor_msgs/Image
 1.desc = right image
 }
}}}