zhanghanduo / zed_cpu_ros

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

zed_cpu_ros

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.

Usage:

1. git the packge into your working space

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

   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
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

TODO:

• add the nodelet functionality.

Author:

Zhang Handuo