initial commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(zed_cpu_ros)
+
+find_package(catkin REQUIRED
+        COMPONENTS
+            cmake_modules
+            roscpp
+            tf
+            cv_bridge
+            image_transport
+        )
+# set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
+
+# find_package(Eigen3 REQUIRED)
+find_package(Boost REQUIRED)
+find_package(OpenCV REQUIRED)
+
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+    ${EIGEN_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+    )
+
+add_definitions(${EIGEN_DEFINITIONS})
+
+link_directories(${catkin_LIBRARY_DIRS})
+
+catkin_package(
+    # INCLUDE_DIRS include
+    LIBRARIES 
+    CATKIN_DEPENDS
+)
+
+# add_library(zed_cpu_ros src/zed_cpu_ros.cpp)
+# target_link_libraries(zed_cpu_ros ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${Boost_LIBRARIES})
+# add_dependencies(zed_cpu_ros arti_msgs_gencpp)
+
+add_executable(zed_cpu_ros src/zed_cpu_ros.cpp)
+target_link_libraries(zed_cpu_ros ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OpenCV_LIBS})
+
+# install(TARGETS 
+#        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#        )
+
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   PATTERN ".svn" EXCLUDE
+# )

README.md

@@ -1,2 +1,36 @@
-# zed_cpu_ros
+zed_cpu_ros
+===========
 A simple zed camera driver which only use CPU and only publish left and right raw images and its camera info.
+
+# Useage:
+1. git the packge into your working space
+2. find your zed calibration files in
+    ```
+    	cd /usr/local/zed/settings
+    ```
+
+	or download from:
+	http://calib.stereolabs.com/?SN=XXXX
+
+	Node: XXXX is your last four digit S/N of your camera, change it !!
+
+3. update launch file configuration file name in zed_cpu_ros.launch into your SNXXXX.conf
+    ```
+    roscd zed_cpu_ros/launch
+    ```
+4. launch the code
+    ```
+    roslaucnh zed_cpu_ros zed_cpu_ros.launch
+    ```
+
+# TODO:
+
+1. add the launch file for stereo_proc.
+2. add the nodelet function.
+
+# Transcend Robotics:
+Patented articulated traction control ARTI technology for stair climbing and obstacle traversal without complex software or controls
+http://transcendrobotics.com/
+
+# Authour:
+Di Zeng	

config/SN1267.conf

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+[LEFT_CAM_2K]
+cx=1164.13
+cy=574.379
+fx=1400.09
+fy=1400.09
+k1=-0.171543
+k2=0.0240596
+
+[LEFT_CAM_FHD]
+cx=1020.13
+cy=493.379
+fx=1400.09
+fy=1400.09
+k1=-0.171543
+k2=0.0240596
+
+[LEFT_CAM_HD]
+cx=668.567
+cy=335.19
+fx=700.045
+fy=700.045
+k1=-0.171543
+k2=0.0240596
+
+[LEFT_CAM_VGA]
+cx=349.784
+cy=175.095
+fx=350.023
+fy=350.023
+k1=-0.171543
+k2=0.0240596
+
+[RIGHT_CAM_2K]
+cx=1061.5
+cy=630.943
+fx=1400.05
+fy=1400.05
+k1=-0.171688
+k2=0.0240001
+
+[RIGHT_CAM_FHD]
+cx=917.499
+cy=549.943
+fx=1400.05
+fy=1400.05
+k1=-0.171688
+k2=0.0240001
+
+[RIGHT_CAM_HD]
+cx=617.249
+cy=363.471
+fx=700.025
+fy=700.025
+k1=-0.171688
+k2=0.0240001
+
+[RIGHT_CAM_VGA]
+cx=324.125
+cy=189.236
+fx=350.013
+fy=350.013
+k1=-0.171688
+k2=0.0240001
+
+[STEREO]
+BaseLine=120
+CV_2K=0.0223798
+CV_FHD=0.0223798
+CV_HD=0.0223798
+CV_VGA=0.0223798
+RX_2K=0.00388714
+RX_FHD=0.00388714
+RX_HD=0.00388714
+RX_VGA=0.00388714
+RZ_2K=-0.00139603
+RZ_FHD=-0.00139603
+RZ_HD=-0.00139603
+RZ_VGA=-0.00139603

launch/image_proc.launch

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+<!-- Current image_pipeline and cv_bridge is not stable with opencv 3.0, image_proc not working for me
+ and tried of rolling back to opencv2.4, so test if it works for opencv 2.4 -->
+<launch>
+  <include file="$(find zed_cpu_ros)/launch/zed_cpu_ros.launch" ns="camera"/>
+  <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" respawn="true" output="screen" ns="camera"/>
+<!--   	<remap from="left/image_raw" to="/left/image_raw"/>
+  	<remap from="left/camera_info" to="/left/camera_info"/>
+  	<remap from="right/image_raw" to="/right/image_raw"/>
+  	<remap from="right/camera_info" to="/right/camera_info"/> -->
+  <!-- </node> -->
+
+</launch>

launch/zed_cpu_ros.launch

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+<launch>
+<arg name="config_file_location" default="$(find zed_cpu_ros)/config/SN1267.conf"/>
+<arg name="camera_namespace" default="camera"/>
+
+<node pkg="zed_cpu_ros" type="zed_cpu_ros" name="zed_cpu_ros_node" output="screen" ns="$(arg camera_namespace)">
+	<param name="resolution" value="1"/>
+	<param name="frame_rate" value="30"/>
+	<param name="config_file_location" value="$(arg config_file_location)"/>
+	<param name="show_image" value="false"/>
+	<param name="left_frame_id" value="left_camera"/>
+	<param name="right_frame_id" value="right_camera"/>
+</node>
+</launch>

package.xml

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+<package>
+    <name>zed_cpu_ros</name>
+    <version>0.0.1</version>
+    <description>
+      A simple zed camera driver which only use CPU and only publish left and right raw images.
+    </description>
+    <author>Di Zeng</author>
+    <author>di.zeng@transcendrobotics.com</author>
+    <maintainer email="di.zeng@transcendrobotics.com">Di Zeng</maintainer>
+    <license>BSD</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <build_depend>cmake_modules</build_depend>
+    <!-- <build_depend>eigen3</build_depend> -->
+    <build_depend>roscpp</build_depend>
+    <build_depend>tf</build_depend>
+    <build_depend>cv_bridge</build_depend>
+    <build_depend>image_transport</build_depend>
+
+    <run_depend>cmake_modules</run_depend>
+    <run_depend>roscpp</run_depend>
+    <run_depend>tf</run_depend>
+    <run_depend>cv_bridge</run_depend>
+
+    <export>
+    </export>
+
+</package>
+
+