![]() This wrapper lets you access ZED stereo images, depth map, 3D point cloud and 6-DoF motion tracking in the ROS environment. ![]() The ROS wrapper is an interface between the ZED SDK and the ROS framework. Please see the latest SDK guide for ROS here. This library is licensed under the MIT License.Note: This is for ZED SDK 1.2 only. The given IMU and Magnetometer data are expressed in the RAW coordinate system as shown below The coordinate system is only used for sensor data. $ sudo apt-get install -y doxygen # if not previously installed Access the docs by opening doc/html/index.html in your web browser. You can also generate the documentation locally in HTML format (with Doxygen) using the commands below. It is also generated as a Doxygen for simpler navigation: The API is documented in the Include.h files. ![]() Note: OpenCV is used in the examples for controls, display, and depth extraction. $ zed_open_capture_multicam_video_example To run the examples, open a terminal console and enter the following commands: zed_open_capture_depth_tune_stereo: This application captures the first available stereo frames and provides GUI Controls to tune the disparity map results and save them to be used in the zed_open_capture_depth_example example.zed_open_capture_depth_example: This application captures and displays video frames, calculates disparity map, then extracts the depth map and the point cloud displaying the result and the estimation of the performance.zed_open_capture_sync_example: This application creates a VideoCapture and a SensorCapture object, initialize the camera/sensors synchronization and displays on screen the video stream with the synchronized IMU data.zed_open_capture_sensors_example: This application creates a SensorCapture object and displays on the command console the values of camera sensors acquired at full rate.zed_open_capture_rectify_example: This application downloads factory stereo calibration parameters from Stereolabs server, performs stereo image rectification and displays original and rectified frames.zed_open_capture_control_example: This application captures and displays video frames from the camera and provides runtime control of camera parameters using keyboard shortcuts.zed_open_capture_multicam_video_example: This application captures and displays video frames from two cameras.zed_open_capture_video_example: This application captures and displays video frames from the camera.To correctly execute the example application it is necessary to change the default OpenGL version:Ĭonst sl_oc::sensors::data::Imu imuData = sens.getLastIMUData(5000) Ĭonst sl_oc::sensors::data::Magnetometer magData = sens.getLastMagnetometerData(100) Ĭonst sl_oc::sensors::data::Environment envData = sens.getLastEnvironmentData(100) Ĭonst sl_oc::sensors::data::Temperature tempData = sens.getLastCameraTemperatureData(100) Īfter installing the library and examples, you will have the following sample applications in your build directory: VtkShaderProgram.cxx:438 ERR| vtkShaderProgram (0x23a611c0): 0:1(10): error: GLSL 1.50 is not supported. On some embedded devices, like Raspberry pi 4, the depth extraction example can crash with the following error: You can retrieve camera and sensor calibration data using the ZED SDK to correct your camera data. Note: While in the ZED SDK all output data is calibrated and compensated, here the extracted raw data is not corrected by the camera and sensor calibration parameters. A synchronization mechanism is provided to get the correct sensor data associated with a video frame. The open-source library provides methods to access raw video frames, calibration data, camera controls, and raw data from the camera sensors (on ZED 2, ZED 2i, and ZED Mini). It doesn't require CUDA and therefore can be used on many desktop and embedded platforms. The ZED Open Capture is a multi-platform, open-source C++ library for low-level camera and sensor capture for the ZED stereo camera family. Disparity/Depth/Point Cloud extraction using OpenCV Transparent API.IMU, magnetometer, and barometer data capture.6-DOF IMU (3-DOF accelerometer + 3-DOF gyroscope).Open source C++ capture library compatible with C++11 standard.A platform-agnostic camera and sensor capture API for the ZED stereo camera family
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