A simple zed camera driver which only use CPU and only publish left and right raw images, rectified image and its camera info. This repo is forked from willdzeng.
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git the packge into your working space
cd catkin_ws/src git clone https://github.com/zhanghanduo/zed_cpu_ros.git cd .. catkin_make
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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
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.
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launch the code
roslaunch zed_cpu_ros zed_cpu_ros.launch
Parameter | Description | Value |
---|---|---|
device_id | device_id selection | int |
resolution | ZED Camera resolution | '0': HD2K |
_ | _ | '1': HD1080 |
_ | _ | '2': HD720 |
_ | _ | '3': VGA |
frame_rate (for HD2K) | Rate at which images are published (fps) | int (15) |
frame_rate (for HD1080) | Rate at which images are published (fps) | int (15, 30) |
frame_rate (for HD720) | Rate at which images are published (fps) | int (15, 30, 60) |
frame_rate (for VGA) | Rate at which images are published (fps) | int (15, 30, 60, 100) |
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 |
rectify | Whether rectify image | bool |
show_image | Whether to use opencv show image | bool |
encoding | image encoding | string |
- add the nodelet functionality.
Zhang Handuo