- simple ZED camera driver which only uses the CPU and doesn't need the official StereoLabs drivers / CUDA
- only publishes the left and right images and the camera info via ROS
- fork of Di Zeng's original version (https://github.com/willdzeng/zed_cpu_ros)
- additions of this fork:
- independent high-frequency
std::thread
for frame grabbing (to prevent buffer lag) dynamic_reconfigure
support- better error and warning messages, e.g. when the frame rate drops
- Kalibr YAML file support
- more launch / command line arguments
- some C++11 constructs and code clean-up
- independent high-frequency
-
either use your existing catkin_ws:
cd catkin_ws/src git clone https://github.com/MichaelGrupp/zed_cpu_ros cd .. catkin_make source devel/setup.bash
-
for for quick & dirty testing create an in-source catkin_ws with
create_catkin_ws.sh
:git clone https://github.com/MichaelGrupp/zed_cpu_ros cd zed_cpu_ros . ./create_catkin_ws.sh --build
-
either from the manufacturer: http://calib.stereolabs.com/?SN=XXXX
Note: XXXX is your last four digit S/N of your camera, make sure to change it!!
-
or use Kalibr to calibrate yourself and use the "camchain" YAML file as the config file (requires the
config_is_kalibr_yaml
flag to be set in the launch file or as a command line argument) -
Put the .conf file into zed_cpu_ros/config folder and update the launch file configuration file name in zed_cpu_ros.launch to your SNXXXX.conf
rosed zed_cpu_ros zed_cpu_ros.launch
change XXXX to the .conf file you have, for example 1010 - in this line:
<arg name="config_file_location" default="$(find zed_cpu_ros)/config/SN1010.conf"/>
roslaunch zed_cpu_ros zed_cpu_ros.launch
You can reconfigure a few camera settings that are supported via the UVC interface of the ZED camera without restarting the node.
To open the reconfigure GUI:
rosrun rqt_reconfigure rqt_reconfigure
Specify command line in the launch call as shown in this example:
roslaunch zed_cpu_ros zed_cpu_ros.launch frame_rate:=25 show_image:=true
Parameter | Description | Value |
---|---|---|
device |
UVC camera capture device ID | 0, 1, ... |
resolution |
ZED Camera resolution | '0': HD2K |
_ | _ | '1': HD1080 |
_ | _ | '2': HD720 |
_ | _ | '3': VGA |
frame_rate |
rate at which images are published | int |
config_file_location |
path of ZED calibration file | string |
config_is_kalibr_yaml |
calibration file is a "camchain" from Kalibr | bool |
show_image |
display a window with image live view | bool |
flip |
rotate the image by 180 degrees | bool |
- Di Zeng
- Michael Grupp
- and other contributors...