[立体视觉学习笔记]--(1)常见双目相机

双目相机

本文介绍ROS中一些常见的双目相机，大家可以根据自己的应用需求进行选择，参考ROS-I博客上的一篇调研文章，但是本文仅限于被动方式的双目相机，不含Kinect等深度相机。

bumblebee2 双目相机

ZED双目相机

Stereolabs® ZED™
Type: Embedded stereo
3D Resolution: 2208 x 1242 max
RGB: 2208 x 1242 max
Depth Range: 1.5 to 20 m
Frame Rate: 15 fps at max res., 120 fps at VGA res.
Latency: 1 frame
FOV: 96° H, 54° V
Physical Dims: 175x30x33 mm
Interface: USB 3.0
Link to ROS Driver
Notes: Latency not confirmed.

Ensenso® N35-606-16-BL双目相机

Type: Structured light
3D Resolution: 1280 x 1024
RGB: 1280 x 1024
Frame Rate: 10 fps
Latency: 1 frame
FOV: 58° H, 52° V
Physical Dims: 175x50x52 mm
Interface: Ethernet
Link to PCL/ROS Driver
Notes: Many other resolutions and FOVs available. IP65/67 enclosure available.

Carnegie Robotics® MultiSense™ S7双目相机

Carnegie Robotics® MultiSense™ S7

Type: Embedded stereo
3D Resolution: 2048 x 1088
RGB Resolution: 2048 x 1088 max (7.5 fps)
Depth Range: 0.4 m to infinity
Frame Rate: 15 fps at 2048 x 544
Latency: 1 frame
FOV: 80° H, 45° V
Physical Dims: 130x130x65 mm
Interface: Ethernet
Link to ROS Driver
Notes: IP68 enclosure.

e-Con Systems Tara Stereo Camera双目相机

Type: Embedded Stereo Camera
3D Resolution: 752 x 480
RGB: N/A
Frame Rate: 60 fps
Latency: 1 Frame
FOV: 60° H
Physical Dims: 100x30x35 mm
Interface: USB 3.0
Link to ROS Driver
Notes: Inbuilt IMU

SP1双目相机

Type: Embedded stereo
3D Resolution: 2048 x 1088
RGB Resolution: 2048 x 1088 max (7.5 fps)
Depth Range: 0.4 m to infinity
Frame Rate: 15 fps at 2048 x 544
Latency: 1 frame
FOV: 80° H, 45° V
Physical Dims: 130x130x65 mm
Interface: Ethernet
Link to ROS Driver
Notes: IP68 enclosure.