A ROS node to use Zed cameras on machines with no GPU. It wraps zed_open_capture
- Clone the repository in your ROS catkin workspace and compile it.
cd catkin_ws/src
git clone [email protected]:AIRLab-POLIMI/zed_open_capture_ros.git
cd ..
catkin_make
- Add the calibration files.
Calibration files can be downloaded from the Stereolabs website at http://calib.stereolabs.com/?SN=XXXX. Note: Replace XXXX with the last four digit of the serial number of your camera.
By default, the node will look for calibration files in the zed_open_capture_ros/conf folder. This location can be changed using the config_file_location parameter.
- Start the node with the provided launch file
roslaunch zed_open_capture_ros zed2.launch
| Parameter | Description | Value |
|---|---|---|
| device_id | /dev/video id to open (use -1 to open the first available camera) |
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 |
| use_zed_config | Use ZED calibration file | bool |
| config_file_location | The location of ZED calibration file | string |
| serial | Serial number of the camera to open (use 0 to retrieve the serial from the camera) | int |