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gz_stereo [Drivers] 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