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Add Calibration File, Calibration Flag, Min Depth and Max Depth parameters to zedxm.launch, zed_camera.launch and zed_nodelet #945

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jdcast wants to merge 9 commits into from
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Add Calibration File, Calibration Flag, Min Depth and Max Depth parameters to zedxm.launch, zed_camera.launch and zed_nodelet #945

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50f97f5
Add optional_opencv_calibration_file as a yaml parameter
jdcast Mar 29, 2024
adf6a48
Disable self calibration on startup
jdcast Mar 29, 2024
2a2027e
Try calibration file found online
jdcast Mar 29, 2024
2fb9c05
Change max depth
jdcast Apr 1, 2024
482cd3b
Reduce max depth; Try updated calibration file
jdcast Apr 1, 2024
6ea5f10
Use better string handling for opencv_calibration_file parameter
jdcast Apr 22, 2024
eade89e
Ready changes for PR to stereolabs
jdcast Apr 23, 2024
5366f20
Add calibration file, self calibration flag, min depth and max depth …
jdcast Apr 23, 2024
a665c81
Merge branch 'master' of https://github.com/stereolabs/zed-ros-wrapper
jdcast Apr 23, 2024
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1 change: 1 addition & 0 deletions zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp
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Expand Up @@ -652,6 +652,7 @@ class ZEDWrapperNodelet : public nodelet::Nodelet
bool mCameraSelfCalib;
bool mIsStatic = false;
double mPosTrkMinDepth = 0.0;
std::string mOptionalOpencvCalibrationFile;

// Flags
bool mGrabActive = false; // Indicate if camera grabbing is active (at least one topic subscribed)
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5 changes: 5 additions & 0 deletions zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
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Expand Up @@ -268,6 +268,8 @@ void ZEDWrapperNodelet::onInit()
mZedParams.open_timeout_sec = 10.0f;

mZedParams.enable_image_enhancement = true; // Always active
sl::String optional_opencv_calibration_file(mOptionalOpencvCalibrationFile.c_str());
mZedParams.optional_opencv_calibration_file = optional_opencv_calibration_file;

mDiagUpdater.add("ZED Diagnostic", this, &ZEDWrapperNodelet::callback_updateDiagnostic);
mDiagUpdater.setHardwareID("ZED camera");
Expand Down Expand Up @@ -877,6 +879,9 @@ void ZEDWrapperNodelet::readGeneralParams()
NODELET_INFO_STREAM(" * Camera Flip\t\t\t-> " << sl::toString(mCameraFlip).c_str());
mNhNs.getParam("general/self_calib", mCameraSelfCalib);
NODELET_INFO_STREAM(" * Self calibration\t\t-> " << (mCameraSelfCalib ? "ENABLED" : "DISABLED"));

mNhNs.getParam("general/optional_opencv_calibration_file", mOptionalOpencvCalibrationFile);
NODELET_INFO_STREAM(" * Calibration File\t\t-> " << mOptionalOpencvCalibrationFile);

int tmp_sn = 0;
mNhNs.getParam("general/serial_number", tmp_sn);
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16 changes: 16 additions & 0 deletions zed_wrapper/launch/include/zed_camera.launch.xml
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Expand Up @@ -46,6 +46,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<arg name="cam_pitch" default="0.0" />
<arg name="cam_yaw" default="0.0" />

<!-- Calibration -->
<arg name="self_calib" default="true" />
<arg name="optional_opencv_calibration_file" default="" /><!-- <arg name="optional_opencv_calibration_file" default="path/to/opencv/file.yaml"> -->

<!-- Depth -->
<arg name="min_depth" default="0.3" />
<arg name="max_depth" default="15.0" />

<!-- ROS URDF description of the ZED -->
<group if="$(arg publish_urdf)">
<param name="$(arg camera_name)_description"
Expand Down Expand Up @@ -87,5 +95,13 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

<!-- GPU ID -->
<param name="general/gpu_id" value="$(arg gpu_id)" />

<!-- Calibration -->
<param name="general/self_calib" value="$(arg self_calib)" />
<param name="general/optional_opencv_calibration_file" value="$(arg optional_opencv_calibration_file)" />

<!-- Depth -->
<param name="depth/min_depth" value="$(arg min_depth)" />
<param name="depth/max_depth" value="$(arg max_depth)" />
</node>
</launch>
9 changes: 9 additions & 0 deletions zed_wrapper/launch/zedxm.launch
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Expand Up @@ -35,6 +35,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<arg name="cam_roll" default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
<arg name="cam_pitch" default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
<arg name="cam_yaw" default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->

<arg name="self_calib" default="true" />
<arg name="optional_opencv_calibration_file" default="" /> <!-- <arg name="optional_opencv_calibration_file" default="path/to/opencv/file.yaml"> -->
<arg name="min_depth" default="0.1" />
<arg name="max_depth" default="15.0" />

<group ns="$(arg camera_name)">
<include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
Expand All @@ -52,6 +57,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<arg name="cam_roll" value="$(arg cam_roll)" />
<arg name="cam_pitch" value="$(arg cam_pitch)" />
<arg name="cam_yaw" value="$(arg cam_yaw)" />
<arg name="self_calib" value="$(arg self_calib)" />
<arg name="optional_opencv_calibration_file" value="$(arg optional_opencv_calibration_file)" />
<arg name="min_depth" value="$(arg min_depth)" />
<arg name="max_depth" value="$(arg max_depth)" />
</include>
</group>
</launch>
1 change: 1 addition & 0 deletions zed_wrapper/params/common.yaml
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Expand Up @@ -36,6 +36,7 @@ general:
#region_of_interest: '[[0.25,0.33],[0.75,0.33],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
#region_of_interest: '[[0.25,0.25],[0.75,0.25],[0.75,0.75],[0.25,0.75]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
#region_of_interest: '[[0.5,0.25],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
optional_opencv_calibration_file: ''

#video:

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