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update ZED SDK 1.0
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‎CMakeLists.txt‎

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@@ -17,10 +17,21 @@ else()
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endif()
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###############################################################################
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find_package(ZED 0.9 REQUIRED)
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find_package(ZED 1.0 REQUIRED)
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##For Jetson, OpenCV4Tegra is based on OpenCV2.4
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exec_program(uname ARGS -p OUTPUT_VARIABLE CMAKE_SYSTEM_NAME2)
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if ( CMAKE_SYSTEM_NAME2 MATCHES "aarch64" OR CMAKE_SYSTEM_NAME2 MATCHES "armv7l" )
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SET(OCV_VERSION "2.4")
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SET(CUDA_VERSION "")
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else()
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SET(CUDA_VERSION "7.5")
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SET(OCV_VERSION "3.1")
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endif()
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find_package(OpenCV ${OCV_VERSION} COMPONENTS core highgui imgproc REQUIRED)
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find_package(CUDA ${CUDA_VERSION} REQUIRED)
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find_package(CUDA REQUIRED)
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find_package(OpenCV 2.4 COMPONENTS core highgui imgproc REQUIRED)
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find_package(PCL REQUIRED)
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find_package(catkin REQUIRED COMPONENTS
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sensor_msgs
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cv_bridge
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dynamic_reconfigure
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tf2_ros
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)
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generate_dynamic_reconfigure_options(
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roscpp
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rosconsole
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sensor_msgs
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opencv2
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opencv
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cv_bridge
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image_transport
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dynamic_reconfigure
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tf2_ros
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)
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###############################################################################
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# INCLUDES
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# Specify locations of header files.
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include_directories(
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${catkin_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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${CUDA_INCLUDE_DIRS}
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${ZED_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
@@ -83,7 +96,7 @@ target_link_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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${PCL_LIBRARIES}
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${PCL_LIBRARIES}
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)
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add_dependencies(zed_wrapper_node ${PROJECT_NAME}_gencfg)

‎README.md‎

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@@ -5,7 +5,7 @@ Ros wrapper for the ZED Stereo Camera SDK
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**This wrapper also requires the PCL library**
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This sample is a wrapper for the ZED library in order to use the ZED Camera with ROS. It can provide the camera images, the depth map, and a 3D point cloud
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This sample is a wrapper for the ZED library in order to use the ZED Camera with ROS. It can provide the camera images, the depth map, a 3D textured point cloud, and the odometry given by the ZED tracking.
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Published topics:
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- /camera/point_cloud/cloud
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- /camera/left/image_rect_color
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- /camera/rgb/camera_info
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- /camera/rgb/image_rect_color
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- /camera/odom
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A set of parameters can be specified in the launch file provided in the launch directory.
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@@ -23,12 +24,15 @@ A set of parameters can be specified in the launch file provided in the launch d
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The zed_ros_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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- tf2_ros
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- nav_msgs
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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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- opencv
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- cv_bridge
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- image_transport
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- dynamic_reconfigure
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## Build the program
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$ rosrun image_view image_view image:=/camera/rgb/image_rect_color
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If you want to see the point cloud, launch rviz, select zed_optical_frame in Displays->Global Options->Fixed Frame->zed_optical_frame.
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Then click on 'add' (bottom left), select the 'By Topic' tab, select point_cloud->cloud->PointCloud2 and click 'OK'.
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If you want to see the point cloud, lauch rviz with the following command. Then click on **add** (bottom left), select the **By Topic** tab, select **point_cloud->cloud->PointCloud2** and click **OK**.
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$ rosrun rviz rviz
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Note that rviz isn't very good at displaying a camera feed and a point cloud at the same time. You should use an other instance of rviz or the `rosrun` command.
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## Launch file parameters
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Parameter | Description | Value
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------------------------|---------------------------------|---------------------------------
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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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rgb_topic | Topic to which rgb==default==left images are published | string
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rgb_cam_info_topic | Topic to which rgb==default==left camera info are published | string
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rgb_frame_id | ID specified in the rgb==default==left image message header | string
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left_topic | Topic to which left 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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left_frame_id | ID specified in the left image message header | string
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right_topic | Topic to which right images are published | string
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right_cam_info_topic | Topic to which right camera info are published | string
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right_frame_id | ID specified in the right image message header | string
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depth_topic | Topic to which depth map images are published | string
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depth_cam_info_topic | Topic to which depth camera info are published | string
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depth_frame_id | ID specified in the depth image message header | string
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point_cloud_topic | Topic to which point clouds are published | string
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cloud_frame_id | ID specified in the point cloud message header | string
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To visualize the odometry in rviz, select the **Add** button, and select the **odom** topic under the **By topic** tab.
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*Important: By default rviz is badly displaying the odometry, be sure to set it up correctly by opening the newly created Odometry object in the left list, and by setting **Position Tolerance** and **Angle Tolerance** to **0**, and **Keep** to **1**. *
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You can also see the point could fused with the odometry by subscribing to the 'odom' topic (even in an other rviz or an other node).
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To change your referential, use the 'Fixed Frame' parameter at the top-left of rviz.
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## Launch file parameters
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Parameter | Description | Value
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------------------------------|-------------------------------------------------------------|-------------------------
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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 | '0': NONE
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_ | _ | '1': PERFORMANCE
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_ | _ | '2': MEDIUM
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_ | _ | '3': QUALITY
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sensing_mode | Depth sensing mode | '0': FILL
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_ | _ | '1': STANDARD
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openni_depth_mode | Convert depth to 16bit in millimeters | '0': 32bit float meters
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_ | _ | '1': 16bit uchar millimeters
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frame_rate | Rate at which images are published | int
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rgb_topic | Topic to which rgb==default==left images are published | string
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rgb_cam_info_topic | Topic to which rgb==default==left camera info are published | string
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rgb_frame_id | ID specified in the rgb==default==left image message header | string
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left_topic | Topic to which left 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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left_frame_id | ID specified in the left image message header | string
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right_topic | Topic to which right images are published | string
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right_cam_info_topic | Topic to which right camera info are published | string
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right_frame_id | ID specified in the right image message header | string
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depth_topic | Topic to which depth map images are published | string
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depth_cam_info_topic | Topic to which depth camera info are published | string
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depth_frame_id | ID specified in the depth image message header | string
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point_cloud_topic | Topic to which point clouds are published | string
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cloud_frame_id | ID specified in the point cloud message header | string
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odometry_topic | Topic to which odometry is published | string
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odometry_frame_id | ID specified in the odometry message header | string
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odometry_transform_frame_id | Name of the transformation following the odometry | string

‎launch/zed.launch‎

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<node name="zed_wrapper_node" pkg="zed_wrapper" type="zed_wrapper_node" args="$(arg svo_file)" output="screen">
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<param name="resolution" value="2" />
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<param name="quality" value="2" />
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<param name="quality" value="3" />
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<param name="sensing_mode" value="1" />
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<param name="frame_rate" value="30" />
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<param name="frame_rate" value="60" />
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<param name="odometry_DB" value="" />
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<param name="openni_depth_mode" value="0" />
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<param name="rgb_topic" value="rgb/image_rect_color" />
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<param name="rgb_cam_info_topic" value="rgb/camera_info" />
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<param name="rgb_frame_id" value="/zed_optical_frame" />
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<param name="rgb_topic" value="rgb/image_rect_color" />
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<param name="rgb_cam_info_topic" value="rgb/camera_info" />
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<param name="rgb_frame_id" value="/zed_tracked_frame" />
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<param name="left_topic" value="left/image_rect_color" />
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<param name="left_cam_info_topic" value="left/camera_info" />
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<param name="left_frame_id" value="/zed_optical_frame" />
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<param name="left_frame_id" value="/zed_tracked_frame" />
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<param name="right_topic" value="right/image_rect_color" />
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<param name="right_cam_info_topic" value="right/camera_info" />
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<param name="right_frame_id" value="/zed_optical_frame" />
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<param name="right_topic" value="right/image_rect_color" />
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<param name="right_cam_info_topic" value="right/camera_info" />
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<param name="right_frame_id" value="/zed_tracked_frame" />
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<param name="depth_topic" value="depth/image_rect_color" />
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<param name="depth_cam_info_topic" value="depth/camera_info" />
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<param name="depth_frame_id" value="/zed_optical_frame" />
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<param name="depth_topic" value="depth/image_rect_color" />
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<param name="depth_cam_info_topic" value="depth/camera_info" />
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<param name="depth_frame_id" value="/zed_tracked_frame" />
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<param name="point_cloud_topic" value="point_cloud/cloud" />
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<param name="cloud_frame_id" value="/zed_optical_frame" />
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<param name="cloud_frame_id" value="/zed_tracked_frame" />
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<param name="odometry_topic" value="odom" />
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<param name="odometry_frame_id" value="/zed_initial_frame" />
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<param name="odometry_transform_frame_id" value="/zed_tracked_frame" />
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</node>
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</group>

‎launch/zed_tf.launch‎

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<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
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<node pkg="tf2_ros" type="static_transform_publisher" name="$(arg camera)_base_link1"
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args="0 0 0 0 0 0 1 camera_link $(arg tf_prefix)/$(arg camera)_frame" />
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args="0 0 0 0 0 0 1 map $(arg tf_prefix)/$(arg camera)_initial_frame" />
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<!--
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<node pkg="tf2_ros" type="static_transform_publisher" name="$(arg camera)_base_link2"
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args="$(arg optical_rotate) $(arg tf_prefix)/$(arg camera)_frame $(arg tf_prefix)/$(arg camera)_optical_frame" />
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args="$(arg optical_rotate) $(arg tf_prefix)/$(arg camera)_initial_frame $(arg tf_prefix)/$(arg camera)_tracked_frame" />
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-->
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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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<version>1.0.0</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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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>tf2_ros</build_depend>
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<build_depend>nav_msgs</build_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>opencv</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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<build_depend>dynamic_reconfigure</build_depend>
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<run_depend>tf2_ros</run_depend>
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<run_depend>nav_msgs</run_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>opencv</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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<run_depend>dynamic_reconfigure</run_depend>

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