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‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.7)
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project(zed_wrapper)
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###############################################################################
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## Options
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option( DEBUG_ACTIVE "Enable Debug build" ON )
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if(DEBUG_ACTIVE)
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MESSAGE( "Debug compilation active" )
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set(ROS_BUILD_TYPE Debug)
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set(CMAKE_BUILD_TYPE Debug)
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else()
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MESSAGE( "Release compilation active" )
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set(ROS_BUILD_TYPE Release)
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set(CMAKE_BUILD_TYPE Release)
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endif()
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###############################################################################
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IF(WIN32) # Windows
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SET(ZED_INCLUDE_DIRS $ENV{ZED_INCLUDE_DIRS})
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if (CMAKE_CL_64) # 64 bits
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SET(ZED_LIBRARIES $ENV{ZED_LIBRARIES_64})
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else(CMAKE_CL_64) # 32 bits
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SET(ZED_LIBRARIES $ENV{ZED_LIBRARIES_32})
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endif(CMAKE_CL_64)
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SET(ZED_LIBRARY_DIR $ENV{ZED_LIBRARY_DIR})
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SET(OPENCV_DIR $ENV{OPENCV_DIR})
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ELSE() # Linux
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find_package(ZED 0.9 REQUIRED)
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ENDIF(WIN32)
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find_package(CUDA 6.5 REQUIRED)
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find_package(OpenCV 2.4 COMPONENTS core highgui imgproc REQUIRED)
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find_package(catkin REQUIRED COMPONENTS
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image_transport
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roscpp
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rosconsole
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sensor_msgs
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cv_bridge
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)
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catkin_package(
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CATKIN_DEPENDS
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roscpp
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rosconsole
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sensor_msgs
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opencv2
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cv_bridge
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image_transport
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)
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###############################################################################
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# INCLUDES
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# Specify locations of header files.
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include_directories(
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${catkin_INCLUDE_DIRS}
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${CUDA_INCLUDE_DIRS}
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${ZED_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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)
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link_directories(${ZED_LIBRARY_DIR})
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link_directories(${CUDA_LIBRARY_DIRS})
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link_directories(${OpenCV_LIBRARY_DIRS})
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###############################################################################
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###############################################################################
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# EXECUTABLE
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add_definitions(-std=c++11)# -m64) #-Wall)
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add_executable(
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zed_wrapper_node
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src/zed_wrapper_node.cpp
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)
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target_link_libraries(
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zed_wrapper_node
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${catkin_LIBRARIES}
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${ZED_LIBRARIES}
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${CUDA_LIBRARIES} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY}
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${OpenCV_LIBS}
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)
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###############################################################################
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‎README.md‎

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# zed-ros-wrapper
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Ros wrapper for the ZED Stereo Camera SDK
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** This sample is designed to work with the ZED stereo camera only and require the ZED SDK, more information : https://www.stereolabs.com **
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This sample is a wrapper for the ZED library in order to use the ZED Camera with ROS.
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You can publish Left+Depth or Left+Right images and camera info on the topics of your choice.
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A set of parameters can be specified in the launch file. Two launch files are provided in the
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launch directory:
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- zed_depth.launch: publish left and depth images with their camera info.
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- zed_stereo.launch: publish left and right images with their camera info.
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The zed_depth_stereo_wrapper is a catkin package made to run on ROS Indigo, and depends
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on the following ROS packages:
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- roscpp
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- rosconsole
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- sensor_msgs
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- opencv2
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- cv_bridge
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- image_transport
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## Build the program
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Place the package folder "zed_wrapper" in your catkin workspace source folder "~/catkin_ws/src"
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Open a terminal :
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$ cd ~/catkin_ws
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$ catkin_make
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$ source ./devel/setup.bash
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## Run the program
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Open a terminal :
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$ roslaunch zed_wrapper zed_depth.launch
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## Launch file parameters
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Parameter | Description | Value
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------------------------|---------------------------------|---------------------------------
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computeDepth | Toggle depth computation. | '0': depth not computed, Left+Right images published
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| | '1': depth computed, Left+Depth images published
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svo_file | SVO filename | path to an SVO file
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resolution | ZED Camera resolution | '0': HD2K
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| | '1': HD1080
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| | '2': HD720
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| | '3': VGA
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quality | Disparity Map quality | '1': PERFORMANCE
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| | '2': QUALITY
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sensing_mode | Depth sensing mode | '0': FULL
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| | '1': RAW
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frame_rate | Rate at which images are published | int
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left_topic | Topic to which left images are published | string
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second_topic | Topic to which depth or right images are published | string
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left_cam_info_topic | Topic to which left camera info are published | string
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second_cam_info_topic | Topic to which right or depth camera info are published | string
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left_frame_id | ID specified in the left image message header | string
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second_frame_id | ID specified in the depth or right image message header | string

‎launch/zed_depth.launch‎

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<launch>
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<arg name="computeDepth" value="1"/>
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<arg name="svo_file" default=""/>
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<node name="ze_wrapper_node" pkg="zed_wrapper" type="zed_wrapper_node" args="$(arg computeDepth) $(arg svo_file)" output="screen">
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<param name="resolution" value="3" />
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<param name="quality" value="1" />
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<param name="sensing_mode" value="1" />
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<param name="frame_rate" value="25" />
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<param name="left_topic" value="rgb/image_raw" />
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<param name="second_topic" value="depth/image_raw" />
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<param name="left_cam_info_topic" value="/camera/rgb/camera_info" />
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<param name="second_cam_info_topic" value="/camera/depth/camera_info" />
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<param name="left_frame_id" value="/zed_rgb_optical_frame" />
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<param name="second_frame_id" value="/zed_depth_optical_frame" />
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</node>
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</launch>

‎launch/zed_stereo.launch‎

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<launch>
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<arg name="computeDepth" default="0"/>
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<arg name="svo_file" default=""/>
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<node name="zed_wrapper_node" pkg="zed_wrapper" type="zed_wrapper_node" args="$(arg computeDepth) $(arg svo_file)" output="screen">
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<param name="resolution" value="3" />
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<param name="quality" value="1" />
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<param name="sensing_mode" value="1" />
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<param name="frame_rate" value="25" />
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<param name="left_topic" value="/stereo/left_image" />
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<param name="second_topic" value="/stereo/right_image" />
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<param name="left_cam_info_topic" value="/stereo/left_camera_info" />
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<param name="second_cam_info_topic" value="/stereo/right_camera_info" />
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<param name="left_frame_id" value="/zed_left_frame" />
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<param name="second_frame_id" value="/zed_right_frame" />
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</node>
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</launch>

‎package.xml‎

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<?xml version="1.0"?>
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<package>
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<name>zed_wrapper</name>
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<version>0.1.0</version>
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<description>zed_wrapper is a ROS wrapper for the <a href="http://www.stereolabs.com/developers/">ZED library</a>
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for interfacing with the ZED camera.
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</description>
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<maintainer email="developers@stereolabs.com">STEREOLABS</maintainer>
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<license>BSD</license>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>rosconsole</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>opencv2</build_depend>
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<build_depend>cv_bridge</build_depend>
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<build_depend>image_transport</build_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>rosconsole</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<run_depend>opencv2</run_depend>
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<run_depend>cv_bridge</run_depend>
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<run_depend>image_transport</run_depend>
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<export>
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</export>
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</package>

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