ZED Camera Quick Start Guide

1. Install SDK

ZED SDK 3.8 - Download | Stereolabs

2. Install ros

GitHub - stereolabs/zed-ros-wrapper: ROS wrapper for the ZED SDK

Other tutorials:Installation and use of ZED2 camera SDK and use under ROS_Keji's Blog-CSDN Blog

3. Official documents

Get Started with ZED | Stereolabs

4. Calibration parameter file description

In ./ZED_Calibration under /usr/local/zed/tools/, calibration can be achieved according totutorial

There are calibrated parameters under /usr/local/zed/setting

Cat found that there are many internal parameters:

2K: 2K size image (2048*1024)

HD:1080p size picture

FHD:720P

VGA: 672*376 size

In fact, it is the scaling calculation corresponding to the internal parameters.

Official explanation:

https://support.stereolabs.com/hc/en-us/articles/360007497173-What-is-the-calibration-file-

5. ros starts the camera and changes the camera mode

My path: ~/ZED_ws/src/zed-ros-wrapper/zed_wrapper/params There is common.yaml under which you can modify the camera mode.

6. Post the meaning of the topic

left camera

rgb/image_rect_color:Color corrected image (default left RGB image)

rgb/image_rect_gray: Grayscale corrected image (default left RGB image)

rgb_raw/image_raw_color: Color uncorrected image (default left RGB image)

rgb_raw/image_raw_gray: Grayscale uncorrected image (default left RGB image)

rgb/camera_info:Color camera calibration data

rgb_raw/camera_info: Color uncorrected camera calibration data

left/image_rect_color: Left camera color corrected image

left/image_rect_gray: Left camera grayscale corrected image

left_raw/image_raw_color: Left camera color uncorrected image

left_raw/image_raw_gray: Left camera grayscale uncorrected image

left/camera_info: Left camera calibration data

left_raw/camera_info: leaves uncorrected camera calibration data

right camera

right/image_rect_color: Color correction right image

right_raw/image_raw_color: Color uncorrected right image

right/image_rect_gray:Grayscale corrected right image

right_raw/image_raw_gray: Grayscale uncorrected right image

right/camera_info: Right camera calibration data

right_raw/camera_info: Right uncorrected camera calibration data

stereo pair

stereo/image_rect_color: Side-by-side stereoscopic correction of images

stereo_raw/image_raw_color: Side-by-side stereoscopic uncorrected pair images