I added 2 down-facing H.264 cameras to my BlueROV2 build and updated Orca3 software to match. The cameras are custom-built using Raspberry Pi cameras and Raspberry Pi Zeros, and are designed to work as a stereo pair. Key changes:
orca_topside publishes H.264 messages
uses stereo_decoder and my fork of orb_slam2_ros to decode H.264 messages and do stereo ORB SLAM
many changes to launch files, improvements to orca_topside, etc.
I added 2 down-facing H.264 cameras to my BlueROV2 build and updated Orca3 software to match. The cameras are custom-built using Raspberry Pi cameras and Raspberry Pi Zeros, and are designed to work as a stereo pair. Key changes:
Code is bench tested and ready for field test 17.