This repository includes launch files for capturing video from a davinci surgical robot.

This package is runtime dependent on the following packages

1. usb_cam (ros)
2. stereo_image_proc
3. camera_calibration
4. image_view (ros)
5. cwru_stereo_sync
6. cwru_davinci_calibration_results

The following launch files are included with this package:

1. endoscope.launch: launches the stereo endoscope pair:

roslaunch cwru_davinci_camera endoscope.launch

2. endoscope_rect_viewer.launch: launches a viewer of the rectified stereo pair:

roslaunch cwru_davinci_camera endoscope_rect_viewer.launch

3. endoscope_raw_viewer.launch: launches a viewer of the raw stereo pair:

roslaunch cwru_davinci_camera endoscope_raw_viewer.launch

4. endoscope_calibration.launch: launches the calibration functions. The checkerboard information can be defined (default shown):

roslaunch cwru_davinci_camera endoscope_calibration.launch sq_size:=0.015 sq_dims:=3x5