ZED相机应用 - 技术栈

下载SDK

wget https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/3.6/ZED_SDK_Ubuntu18_cuda11.5_v3.6.5.run

安装

./ZED_SDK_Ubuntu18_cuda11.5_v3.6.5.run skip_python

测试

cd /usr/local/zed/tools

ls

ZED_Calibration ZED_Depth_Viewer ZED_Diagnostic ZED_Explorer ZEDfu ZED_Sensor_Viewer ZED_SVO_Editor

./ZED_Depth_Viewer

标定文件下载

http://calib.stereolabs.com/?SN=4444

http://calib.stereolabs.com/?SN=自己相机的SN号（在SDK中ZED Explorer中查看）

卸载

cd /usr/local

sudo rm -rf zed

zed-ros

下载和SDK版本一样的ros-zed

https://github.com/stereolabs/zed-ros-wrapper
$ cd ~/catkin_ws/src

git clone https://github.com/stereolabs/zed-ros-interfaces.git

$ cd ../

$ rosdep install --from-paths src --ignore-src -r -y

$ catkin_make -DCMAKE_BUILD_TYPE=Release

$ source ./devel/setup.bash
zed2i.launch zed2.launch zed_camera_nodelet.launch zed.launch zedm.launch zed_no_tf.launch
roslaunch zed_wrapper zed.launch

demo

#include <sl/Camera.hpp>

int main(int argc, char **argv) {
    sl::Camera zed;
    sl::InitParameters init_params;
    init_params.camera_resolution = sl::RESOLUTION::HD720;
    init_params.depth_mode = sl::DEPTH_MODE::PERFORMANCE;

    // 开始相机
    if (zed.open(init_params) != sl::ERROR_CODE::SUCCESS) {
        std::cerr << "Error opening ZED camera." << std::endl;
        return EXIT_FAILURE;
    }

    sl::Mat image, depth;

    while (true) {
        if (zed.grab() == sl::ERROR_CODE::SUCCESS) {
            zed.retrieveImage(image, sl::VIEW::LEFT);
            zed.retrieveMeasure(depth, sl::MEASURE::DEPTH);

            // 显示图像和深度
            cv::imshow("ZED Image", image.getCvMat());
            cv::imshow("ZED Depth", depth.getCvMat());

            if (cv::waitKey(1) == 'q') break;
        }
    }
    zed.close();
    return EXIT_SUCCESS;
}