Stereo Simulation

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Stereo Simulation

Dear all,

i am now working on the mobile robot navigation with a stereo vision. i was using the USARSim before but found it was really tough to simulate a stereo camera, so i came to player/gazebo.

as mentioned on the website, gazabo comes with new stereo camera model: generates stereo image pairs, disparity and depth maps. but i did not find any materials on this topic except a stereoworld.

Could anyone give some insights on how to start with stereocamera simulation in gazebo?

I thanks all in advance.