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Adding device selection support #9

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merged 5 commits into from
Apr 3, 2018
Merged

Adding device selection support #9

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0385fb1
added support of device selection
Virgile-Dauge Mar 30, 2018
1486f4e
updated readme
Virgile-Dauge Mar 30, 2018
d1da438
updated readme for device feature
Virgile-Dauge Mar 30, 2018
3adde9d
formating to respect original author's format
Virgile-Dauge Mar 30, 2018
311cb52
fitting requested changes (device -> device_id) and (StereoCamera con…
Virgile-Dauge Apr 3, 2018
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37 changes: 19 additions & 18 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ 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:
# Usage:
1. git the packge into your working space

```
Expand All @@ -13,9 +13,9 @@ A simple zed camera driver which only use CPU and only publish left and right ra
```
2. Get your calibration files:
You can get your calibration files from zed or do a calibration your self by using ROS camera calibration package.

(1). From zed:

Find your zed calibration files in
```
cd /usr/local/zed/settings
Expand All @@ -38,7 +38,7 @@ A simple zed camera driver which only use CPU and only publish left and right ra
```

(2). Do a calibration yourself:

This option is suggested. Reference: http://wiki.ros.org/camera_calibration
```
roslaunch zed_cpu_ros camera_calibration.launch
Expand All @@ -53,18 +53,19 @@ A simple zed camera driver which only use CPU and only publish left and right ra
```
## Launch file parameters

Parameter | Description | Value
------------------------------|-------------------------------------------------------------|-------------------------
resolution | ZED Camera resolution | '0': HD2K
_ | _ | '1': HD1080
_ | _ | '2': HD720
_ | _ | '3': VGA
frame_rate | Rate at which images are published | int
left_frame_id | Left Frame ID | string
right_frame_id | Right Frame ID | string
load_zed_config | Whether to use ZED calibration file | bool
config_file_location | The location of ZED calibration file | string
show_image | Whether to use opencv show image | bool
Parameter | Description | Value
------------------------------|-------------------------------------------------------------|-------------------------
device_id | device_id selection | int
resolution | ZED Camera resolution | '0': HD2K
_ | _ | '1': HD1080
_ | _ | '2': HD720
_ | _ | '3': VGA
frame_rate | Rate at which images are published | int
left_frame_id | Left Frame ID | string
right_frame_id | Right Frame ID | string
load_zed_config | Whether to use ZED calibration file | bool
config_file_location | The location of ZED calibration file | string
show_image | Whether to use opencv show image | bool

# TODO:

Expand All @@ -75,5 +76,5 @@ A simple zed camera driver which only use CPU and only publish left and right ra
Patented articulated traction control ARTI technology for stair climbing and obstacle traversal without complex software or controls
http://transcendrobotics.com/

# Authour:
Di Zeng
# Author:
Di Zeng
2 changes: 2 additions & 0 deletions launch/zed_cpu_ros.launch
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@@ -1,6 +1,7 @@
<launch>
<arg name="config_file_location" default="$(find zed_cpu_ros)/config/SN1267.conf"/>
<arg name="camera_namespace" default="camera"/>
<arg name="device_id" default="0"/>

<node pkg="zed_cpu_ros" type="zed_cpu_ros" name="zed_cpu_ros_node" output="screen" ns="$(arg camera_namespace)" required="true">
<param name="resolution" value="2"/>
Expand All @@ -10,6 +11,7 @@
<param name="left_frame_id" value="left_frame"/>
<param name="right_frame_id" value="right_frame"/>
<param name="load_zed_config" value="true"/>
<param name="device_id" value="$(arg device_id)"/>
</node>

<node pkg="tf" type="static_transform_publisher" name="static_tf_1" args="0.25 0 0.4 0 0 0 1 base_link left_frame 30"/>
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10 changes: 5 additions & 5 deletions src/zed_cpu_ros.cpp
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Expand Up @@ -24,16 +24,15 @@ class StereoCamera
{

public:

/**
* @brief { stereo camera driver }
*
* @param[in] resolution The resolution
* @param[in] frame_rate The frame rate
*/
StereoCamera(int resolution, double frame_rate): frame_rate_(30.0) {
StereoCamera(int device_id, int resolution, double frame_rate):frame_rate_(30.0) {

camera_ = new cv::VideoCapture(0);
camera_ = new cv::VideoCapture(device_id);
cv::Mat raw;
cv::Mat left_image;
cv::Mat right_image;
Expand Down Expand Up @@ -135,9 +134,10 @@ class ZedCameraROS {
private_nh.param("right_frame_id", right_frame_id_, std::string("right_camera"));
private_nh.param("show_image", show_image_, false);
private_nh.param("load_zed_config", load_zed_config_, true);
private_nh.param("device_id", device_id_, 0);

ROS_INFO("Try to initialize the camera");
StereoCamera zed(resolution_, frame_rate_);
StereoCamera zed(device_id_, resolution_, frame_rate_);
ROS_INFO("Initialized the camera");

// setup publisher stuff
Expand Down Expand Up @@ -381,7 +381,7 @@ class ZedCameraROS {
}

private:
int resolution_;
int device_id_, resolution_;
double frame_rate_;
bool show_image_, load_zed_config_;
double width_, height_;
Expand Down