zed_cpu_ros

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

Usage:

git the packge into your working space

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

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.

launch the code

roslaunch zed_cpu_ros zed_cpu_ros.launch

Launch file parameters

Parameter	Description	Value
device_id	device_id selection	int
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
encoding	image encoding	string

TODO:

add the launch file for stereo_proc.
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/

Author: