/zed_cpu_ros

A simple zed camera driver which only use CPU and only publish left and right raw images and its camera info.

Primary LanguageC++BSD 2-Clause "Simplified" LicenseBSD-2-Clause

zed_cpu_ros

A simple zed camera driver which only use CPU and only publish left and right raw images and its camera info.

Useage:

  1. git the packge into your working space

    cd catkin_ws/src
git clone https://github.com/transcendrobotics/zed_cpu_ros
cd ..
catkin_make

  2. Get your calibration files: You can get your calibration files from zed or do a calibration your self by using ROS camera calibration package.

    (1). From zed:

    Find your zed calibration files in

    cd /usr/local/zed/settings

    or download from: http://calib.stereolabs.com/?SN=XXXX

    Note: XXXX is your last four digit S/N of your camera, make sure to change it!!

    put the .conf file into zed_cpu_ros/config folder

    update launch file configuration file name in zed_cpu_ros.launch into your SNXXXX.conf

    roscd zed_cpu_ros/launch
gedit zed_cpu_ros.launch

    change XXXX into the .conf file you have, for example 1010

    <arg name="config_file_location" default="$(find zed_cpu_ros)/config/SN1010.conf"/>

    (2). Do a calibration yourself:

    This option is suggested. Reference: http://wiki.ros.org/camera_calibration

    roslaunch zed_cpu_ros camera_calibration.launch

    After calibration: Find the left.yaml and right.yaml in the tar file and put them into the zed_cpu_ros/config folder. The calibration file will be loaded if you turn <load_zed_config> off in the launch file.

  3. launch the code

    roslaunch zed_cpu_ros zed_cpu_ros.launch

Launch file parameters

Parameter Description Value
resolution ZED Camera resolution '0': HD2K
_ _ '1': HD1080
_ _ '2': HD720
_ _ '3': VGA
frame_rate Rate at which images are published int
left_frame_id Left Frame ID string
right_frame_id Right Frame ID string
load_zed_config Whether to use ZED calibration file bool
config_file_location The location of ZED calibration file string
show_image Whether to use opencv show image bool

TODO:

  1. add the launch file for stereo_proc.
  2. add the nodelet functionality.

Transcend Robotics:

Patented articulated traction control ARTI technology for stair climbing and obstacle traversal without complex software or controls http://transcendrobotics.com/

Authour:

Di Zeng

需要注意的地方

  1. 在主机上插的时候需要插在后面而不是前面
  2. 在笔记本作为载体的时候需要注意device_name 的这个param，而且需要格外注意，如果换成video1不能成功，那么尝试插上USBhub进行实验！！！！不然一直都会是video0在占用。