MichaelGrupp / zed_cpu_ros

My fork of a simple CPU-only ZED camera driver with added support for Kalibr, lower latency and other small improvements

zed_cpu_ros

• 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

Usage

Install, build and source

• 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

Get your calibration files:

• 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"/>

Launch the ROS node

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

Launch file / command line parameters

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

Authors:

• Di Zeng
• Michael Grupp
• and other contributors...