NX入门教程硬件篇-外接ZED-MINI相机
NX入门教程硬件篇-外接ZED-MINI相机
说明：
- 本教程主要介绍如何在NX上使用ZED-MINI相机
- 测试环境含: Jetson Xavier NX + Jetpack4.4 + Ubuntu 18.04 + ZED_SDK_Tegra_JP44_v3.5.0
安装sdk
驱动下载：下载链接
根据自己当前的环境下载与安装对应的sdk
打开新终端，赋予权限
$ sudo chmod +x ZED_SDK_Tegra_JP44_v3.5.0.run
- 执行安装程序
$ ./ZED_SDK_Tegra_JP44_v3.5.0.run
根据出现的安装提示，完成安装
但若出现ZED Python API安装失败，可尝试以下方法单独安装
$ python -m pip install cython numpy
$ mkdir ~/tools/ && cd ~/tools/
$ git clone https://github.com/stereolabs/zed-python-api
$ cd ~/tools/zed-python-api/src
$ pip3 install -r requirements.txt
$ python3 setup.py build
$ python3 setup.py install
ZED Python API安装完后，可在python3下import pyzed测试是否成功安装
测试是否成功安装sdk
$ ./usr/local/zed/tools/ZED_Explorer
安装ROS包
- 下载且编译ros包
$ cd ~/catkin_ws/src
$ git clone https://github.com/stereolabs/zed-ros-wrapper.git
$ git clone https://github.com/stereolabs/zed-ros-examples.git
$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ~/catkin_ws/devel/setup.bash
- 启动zed-mini
$ roslaunch zed_wrapper zedm.launch
... logging to /home/ubuntu/.ros/log/e92ea86a-ba19-11eb-afdb-48b02d078208/roslaunch-AIROS-NX-14906.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://AIROS-NX:38445/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.6
* /zedm/zed_node/auto_exposure_gain: True
* /zedm/zed_node/auto_whitebalance: True
* /zedm/zed_node/brightness: 4
* /zedm/zed_node/contrast: 4
* /zedm/zed_node/depth/depth_downsample_factor: 1.0
* /zedm/zed_node/depth/depth_stabilization: 1
* /zedm/zed_node/depth/max_depth: 10.0
* /zedm/zed_node/depth/min_depth: 0.35
* /zedm/zed_node/depth/openni_depth_mode: False
* /zedm/zed_node/depth/quality: 3
* /zedm/zed_node/depth/sensing_mode: 0
* /zedm/zed_node/depth_confidence: 50
* /zedm/zed_node/depth_texture_conf: 100
* /zedm/zed_node/exposure: 100
* /zedm/zed_node/gain: 100
* /zedm/zed_node/gamma: 8
* /zedm/zed_node/general/base_frame: base_link
* /zedm/zed_node/general/camera_flip: False
* /zedm/zed_node/general/camera_model: zedm
* /zedm/zed_node/general/camera_name: zedm
* /zedm/zed_node/general/gpu_id: -1
* /zedm/zed_node/general/grab_frame_rate: 30
* /zedm/zed_node/general/resolution: 2
* /zedm/zed_node/general/self_calib: True
* /zedm/zed_node/general/serial_number: 0
* /zedm/zed_node/general/svo_compression: 2
* /zedm/zed_node/general/verbose: False
* /zedm/zed_node/general/zed_id: 0
* /zedm/zed_node/hue: 0
* /zedm/zed_node/mapping/fused_pointcloud_freq: 1.0
* /zedm/zed_node/mapping/mapping_enabled: False
* /zedm/zed_node/mapping/max_mapping_range: -1
* /zedm/zed_node/mapping/resolution: 0.05
* /zedm/zed_node/point_cloud_freq: 15.0
* /zedm/zed_node/pos_tracking/area_memory: True
* /zedm/zed_node/pos_tracking/area_memory_db_path:
* /zedm/zed_node/pos_tracking/fixed_z_value: 0.0
* /zedm/zed_node/pos_tracking/floor_alignment: False
* /zedm/zed_node/pos_tracking/imu_fusion: True
* /zedm/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
* /zedm/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
* /zedm/zed_node/pos_tracking/map_frame: map
* /zedm/zed_node/pos_tracking/odometry_frame: odom
* /zedm/zed_node/pos_tracking/path_max_count: -1
* /zedm/zed_node/pos_tracking/path_pub_rate: 2.0
* /zedm/zed_node/pos_tracking/publish_map_tf: True
* /zedm/zed_node/pos_tracking/publish_tf: True
* /zedm/zed_node/pos_tracking/two_d_mode: False
* /zedm/zed_node/pub_frame_rate: 15.0
* /zedm/zed_node/saturation: 4
* /zedm/zed_node/sensors/publish_imu_tf: True
* /zedm/zed_node/sensors/sensors_timestamp_sync: False
* /zedm/zed_node/sharpness: 4
* /zedm/zed_node/stream:
* /zedm/zed_node/svo_file:
* /zedm/zed_node/video/extrinsic_in_camera_frame: True
* /zedm/zed_node/video/img_downsample_factor: 1.0
* /zedm/zed_node/whitebalance_temperature: 42
* /zedm/zedm_description: <?xml version="1....
NODES
/zedm/
zed_node (zed_wrapper/zed_wrapper_node)
zedm_state_publisher (robot_state_publisher/robot_state_publisher)
auto-starting new master
process[master]: started with pid [14923]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to e92ea86a-ba19-11eb-afdb-48b02d078208
process[rosout-1]: started with pid [14934]
started core service [/rosout]
process[zedm/zedm_state_publisher-2]: started with pid [14941]
process[zedm/zed_node-3]: started with pid [14942]
[ INFO] [1621590606.015240338]: Initializing nodelet with 6 worker threads.
nvbuf_utils: Could not get EGL display connection
[ INFO] [1621590607.189208185]: ********** Starting nodelet '/zedm/zed_node' **********
[ INFO] [1621590607.189630400]: SDK version : 3.5.0
[ INFO] [1621590607.189977158]: *** GENERAL PARAMETERS ***
[ INFO] [1621590607.191598977]: * Camera Name -> zedm
[ INFO] [1621590607.193375390]: * Camera Resolution -> HD720
[ INFO] [1621590607.194622131]: * Camera Grab Framerate -> 30
[ INFO] [1621590607.195964617]: * Gpu ID -> -1
[ INFO] [1621590607.197234334]: * Camera ID -> -1
[ INFO] [1621590607.198911770]: * Verbose -> DISABLED
[ INFO] [1621590607.201391587]: * Camera Flip -> DISABLED
[ INFO] [1621590607.203308163]: * Self calibration -> ENABLED
[ INFO] [1621590607.205302820]: * Camera Model by param -> zedm
[ INFO] [1621590607.205423141]: *** VIDEO PARAMETERS ***
[ INFO] [1621590607.206679418]: * Image resample factor -> 1
[ INFO] [1621590607.207714027]: * Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1621590607.207825965]: *** DEPTH PARAMETERS ***
[ INFO] [1621590607.208757149]: * Depth quality -> ULTRA
[ INFO] [1621590607.210003793]: * Depth Sensing mode -> STANDARD
[ INFO] [1621590607.211003682]: * OpenNI mode -> DISABLED
[ INFO] [1621590607.211987986]: * Depth Stabilization -> ENABLED
[ INFO] [1621590607.213233319]: * Minimum depth -> 0.35 m
[ INFO] [1621590607.214301848]: * Maximum depth -> 10 m
[ INFO] [1621590607.215227784]: * Depth resample factor -> 1
[ INFO] [1621590607.215358474]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1621590607.216480604]: * Path rate -> 2 Hz
[ INFO] [1621590607.217614703]: * Path history size -> 1
[ INFO] [1621590607.219632433]: * Odometry DB path ->
[ INFO] [1621590607.221675026]: * Spatial Memory -> ENABLED
[ INFO] [1621590607.223375439]: * IMU Fusion -> ENABLED
[ INFO] [1621590607.225970650]: * Floor alignment -> DISABLED
[ INFO] [1621590607.228015099]: * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1621590607.230487908]: * Two D mode -> DISABLED
[ INFO] [1621590607.232519782]: *** MAPPING PARAMETERS ***
[ INFO] [1621590607.234978255]: * Mapping -> DISABLED
[ INFO] [1621590607.235130993]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1621590607.236270884]: * Object Detection -> DISABLED
[ INFO] [1621590607.236433287]: *** SENSORS PARAMETERS ***
[ INFO] [1621590607.238335782]: * Sensors timestamp sync -> DISABLED
[ INFO] [1621590607.238526505]: *** SVO PARAMETERS ***
[ INFO] [1621590607.241169109]: * SVO input file: ->
[ INFO] [1621590607.242612941]: * SVO REC compression -> H265 (HEVC)
[ INFO] [1621590607.244595694]: *** COORDINATE FRAMES ***
[ INFO] [1621590607.249897734]: * map_frame -> map
[ INFO] [1621590607.250014471]: * odometry_frame -> odom
[ INFO] [1621590607.250146826]: * base_frame -> base_link
[ INFO] [1621590607.250290348]: * camera_frame -> zedm_camera_center
[ INFO] [1621590607.250362829]: * imu_link -> zedm_imu_link
[ INFO] [1621590607.250454575]: * left_camera_frame -> zedm_left_camera_frame
[ INFO] [1621590607.250534128]: * left_camera_optical_frame -> zedm_left_camera_optical_frame
[ INFO] [1621590607.250612593]: * right_camera_frame -> zedm_right_camera_frame
[ INFO] [1621590607.250683635]: * right_camera_optical_frame -> zedm_right_camera_optical_frame
[ INFO] [1621590607.250778516]: * depth_frame -> zedm_left_camera_frame
[ INFO] [1621590607.250939287]: * depth_optical_frame -> zedm_left_camera_optical_frame
[ INFO] [1621590607.251048249]: * disparity_frame -> zedm_left_camera_frame
[ INFO] [1621590607.251134266]: * disparity_optical_frame -> zedm_left_camera_optical_frame
[ INFO] [1621590607.251211931]: * confidence_frame -> zedm_left_camera_frame
[ INFO] [1621590607.251300509]: * confidence_optical_frame -> zedm_left_camera_optical_frame
[ INFO] [1621590607.253560802]: * Broadcast odometry TF -> ENABLED
[ INFO] [1621590607.255416417]: * Broadcast map pose TF -> ENABLED
[ INFO] [1621590607.257380481]: * Broadcast IMU pose TF -> ENABLED
[ INFO] [1621590607.257486339]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1621590607.258545013]: * [DYN] Depth confidence -> 50
[ INFO] [1621590607.259560165]: * [DYN] Depth texture conf. -> 100
[ INFO] [1621590607.260571062]: * [DYN] pub_frame_rate -> 15 Hz
[ INFO] [1621590607.261529030]: * [DYN] point_cloud_freq -> 15 Hz
[ INFO] [1621590607.262439253]: * [DYN] brightness -> 4
[ INFO] [1621590607.263368772]: * [DYN] contrast -> 4
[ INFO] [1621590607.264282836]: * [DYN] hue -> 0
[ INFO] [1621590607.265225507]: * [DYN] saturation -> 4
[ INFO] [1621590607.266064881]: * [DYN] sharpness -> 4
[ INFO] [1621590607.267017601]: * [DYN] gamma -> 8
[ INFO] [1621590607.267918128]: * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1621590607.270403257]: * [DYN] auto_whitebalance -> ENABLED
[ INFO] [1621590607.284309439]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1621590607.284488898]: *** Opening ZED-M...
[ INFO] [1621590611.546869524]: ZED connection -> CAMERA NOT DETECTED
[ INFO] [1621590615.500349854]: ZED connection -> SUCCESS
[ INFO] [1621590617.501093118]: ... ZED ready
[ INFO] [1621590617.501707304]: ZED SDK running on GPU #0
[ INFO] [1621590617.514295928]: Camera-IMU Transform:
555BC8AF10
0.999929 -0.008553 -0.008332 -0.002000
0.008584 0.999956 0.003656 -0.015000
0.008300 -0.003727 0.999959 -0.002000
0.000000 0.000000 0.000000 1.000000
[ INFO] [1621590617.515708847]: * CAMERA MODEL -> ZED-M
[ INFO] [1621590617.516059957]: * Serial Number -> 15429760
[ INFO] [1621590617.516306777]: * Camera FW Version -> 1523
[ INFO] [1621590617.516550301]: * Sensors FW Version -> 517
[ INFO] [1621590617.999077600]: Advertised on topic /zedm/zed_node/rgb/image_rect_color
[ INFO] [1621590617.999216034]: Advertised on topic /zedm/zed_node/rgb/camera_info
[ INFO] [1621590618.055299072]: Advertised on topic /zedm/zed_node/rgb_raw/image_raw_color
[ INFO] [1621590618.055440739]: Advertised on topic /zedm/zed_node/rgb_raw/camera_info
[ INFO] [1621590618.110934231]: Advertised on topic /zedm/zed_node/left/image_rect_color
[ INFO] [1621590618.111092826]: Advertised on topic /zedm/zed_node/left/camera_info
[ INFO] [1621590618.164526188]: Advertised on topic /zedm/zed_node/left_raw/image_raw_color
[ INFO] [1621590618.164811377]: Advertised on topic /zedm/zed_node/left_raw/camera_info
[ INFO] [1621590618.217686618]: Advertised on topic /zedm/zed_node/right/image_rect_color
[ INFO] [1621590618.217850493]: Advertised on topic /zedm/zed_node/right/camera_info
[ INFO] [1621590618.270460386]: Advertised on topic /zedm/zed_node/right_raw/image_raw_color
[ INFO] [1621590618.270642373]: Advertised on topic /zedm/zed_node/right_raw/camera_info
[ INFO] [1621590618.327739412]: Advertised on topic /zedm/zed_node/rgb/image_rect_gray
[ INFO] [1621590618.327908311]: Advertised on topic /zedm/zed_node/rgb/camera_info
[ INFO] [1621590618.378601180]: Advertised on topic /zedm/zed_node/rgb_raw/image_raw_gray
[ INFO] [1621590618.378844384]: Advertised on topic /zedm/zed_node/rgb_raw/camera_info
[ INFO] [1621590618.435340453]: Advertised on topic /zedm/zed_node/left/image_rect_gray
[ INFO] [1621590618.435584425]: Advertised on topic /zedm/zed_node/left/camera_info
[ INFO] [1621590618.488141869]: Advertised on topic /zedm/zed_node/left_raw/image_raw_gray
[ INFO] [1621590618.488405937]: Advertised on topic /zedm/zed_node/left_raw/camera_info
[ INFO] [1621590618.546414607]: Advertised on topic /zedm/zed_node/right/image_rect_gray
[ INFO] [1621590618.546602258]: Advertised on topic /zedm/zed_node/right/camera_info
[ INFO] [1621590618.597289912]: Advertised on topic /zedm/zed_node/right_raw/image_raw_gray
[ INFO] [1621590618.597554300]: Advertised on topic /zedm/zed_node/right_raw/camera_info
[ INFO] [1621590618.650437669]: Advertised on topic /zedm/zed_node/depth/depth_registered
[ INFO] [1621590618.650657289]: Advertised on topic /zedm/zed_node/depth/camera_info
[ INFO] [1621590618.704926793]: Advertised on topic /zedm/zed_node/stereo/image_rect_color
[ INFO] [1621590618.760418910]: Advertised on topic /zedm/zed_node/stereo_raw/image_raw_color
[ INFO] [1621590618.763469200]: Advertised on topic /zedm/zed_node/confidence/confidence_map
[ INFO] [1621590618.765577459]: Advertised on topic /zedm/zed_node/disparity/disparity_image
[ INFO] [1621590618.767367025]: Advertised on topic /zedm/zed_node/point_cloud/cloud_registered
[ INFO] [1621590618.769204367]: Advertised on topic /zedm/zed_node/pose
[ INFO] [1621590618.771156687]: Advertised on topic /zedm/zed_node/pose_with_covariance
[ INFO] [1621590618.773686457]: Advertised on topic /zedm/zed_node/odom
[ INFO] [1621590618.776291908]: Advertised on topic /zedm/zed_node/path_odom
[ INFO] [1621590618.778114818]: Advertised on topic /zedm/zed_node/path_map
[ INFO] [1621590618.780248325]: Advertised on topic /zedm/zed_node/imu/data
[ INFO] [1621590618.782033187]: Advertised on topic /zedm/zed_node/imu/data_raw
[ INFO] [1621590618.783763327]: Advertised on topic /zedm/zed_node/imu/mag
[ INFO] [1621590618.787060982]: Advertised on topic /zedm/zed_node/left_cam_imu_transform [LATCHED]
- 查看话题
$ rostopic list
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static
/zedm/joint_states
/zedm/zed_node/confidence/confidence_map
/zedm/zed_node/depth/camera_info
/zedm/zed_node/depth/depth_registered
/zedm/zed_node/depth/depth_registered/compressed
/zedm/zed_node/depth/depth_registered/compressed/parameter_descriptions
/zedm/zed_node/depth/depth_registered/compressed/parameter_updates
/zedm/zed_node/depth/depth_registered/compressedDepth
/zedm/zed_node/depth/depth_registered/compressedDepth/parameter_descriptions
/zedm/zed_node/depth/depth_registered/compressedDepth/parameter_updates
/zedm/zed_node/depth/depth_registered/theora
/zedm/zed_node/depth/depth_registered/theora/parameter_descriptions
/zedm/zed_node/depth/depth_registered/theora/parameter_updates
/zedm/zed_node/disparity/disparity_image
/zedm/zed_node/imu/data
/zedm/zed_node/imu/data_raw
/zedm/zed_node/imu/mag
/zedm/zed_node/left/camera_info
/zedm/zed_node/left/image_rect_color
/zedm/zed_node/left/image_rect_color/compressed
/zedm/zed_node/left/image_rect_color/compressed/parameter_descriptions
/zedm/zed_node/left/image_rect_color/compressed/parameter_updates
/zedm/zed_node/left/image_rect_color/compressedDepth
/zedm/zed_node/left/image_rect_color/compressedDepth/parameter_descriptions
/zedm/zed_node/left/image_rect_color/compressedDepth/parameter_updates
/zedm/zed_node/left/image_rect_color/theora
/zedm/zed_node/left/image_rect_color/theora/parameter_descriptions
/zedm/zed_node/left/image_rect_color/theora/parameter_updates
/zedm/zed_node/left/image_rect_gray
/zedm/zed_node/left/image_rect_gray/compressed
/zedm/zed_node/left/image_rect_gray/compressed/parameter_descriptions
/zedm/zed_node/left/image_rect_gray/compressed/parameter_updates
/zedm/zed_node/left/image_rect_gray/compressedDepth
/zedm/zed_node/left/image_rect_gray/compressedDepth/parameter_descriptions
/zedm/zed_node/left/image_rect_gray/compressedDepth/parameter_updates
/zedm/zed_node/left/image_rect_gray/theora
/zedm/zed_node/left/image_rect_gray/theora/parameter_descriptions
/zedm/zed_node/left/image_rect_gray/theora/parameter_updates
/zedm/zed_node/left_cam_imu_transform
/zedm/zed_node/left_raw/camera_info
/zedm/zed_node/left_raw/image_raw_color
/zedm/zed_node/left_raw/image_raw_color/compressed
/zedm/zed_node/left_raw/image_raw_color/compressed/parameter_descriptions
/zedm/zed_node/left_raw/image_raw_color/compressed/parameter_updates
/zedm/zed_node/left_raw/image_raw_color/compressedDepth
/zedm/zed_node/left_raw/image_raw_color/compressedDepth/parameter_descriptions
/zedm/zed_node/left_raw/image_raw_color/compressedDepth/parameter_updates
/zedm/zed_node/left_raw/image_raw_color/theora
/zedm/zed_node/left_raw/image_raw_color/theora/parameter_descriptions
/zedm/zed_node/left_raw/image_raw_color/theora/parameter_updates
/zedm/zed_node/left_raw/image_raw_gray
/zedm/zed_node/left_raw/image_raw_gray/compressed
/zedm/zed_node/left_raw/image_raw_gray/compressed/parameter_descriptions
/zedm/zed_node/left_raw/image_raw_gray/compressed/parameter_updates
/zedm/zed_node/left_raw/image_raw_gray/compressedDepth
/zedm/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zedm/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_updates
/zedm/zed_node/left_raw/image_raw_gray/theora
/zedm/zed_node/left_raw/image_raw_gray/theora/parameter_descriptions
/zedm/zed_node/left_raw/image_raw_gray/theora/parameter_updates
/zedm/zed_node/odom
/zedm/zed_node/parameter_descriptions
/zedm/zed_node/parameter_updates
/zedm/zed_node/path_map
/zedm/zed_node/path_odom
/zedm/zed_node/point_cloud/cloud_registered
/zedm/zed_node/pose
/zedm/zed_node/pose_with_covariance
/zedm/zed_node/rgb/camera_info
/zedm/zed_node/rgb/image_rect_color
/zedm/zed_node/rgb/image_rect_color/compressed
/zedm/zed_node/rgb/image_rect_color/compressed/parameter_descriptions
/zedm/zed_node/rgb/image_rect_color/compressed/parameter_updates
/zedm/zed_node/rgb/image_rect_color/compressedDepth
/zedm/zed_node/rgb/image_rect_color/compressedDepth/parameter_descriptions
/zedm/zed_node/rgb/image_rect_color/compressedDepth/parameter_updates
/zedm/zed_node/rgb/image_rect_color/theora
/zedm/zed_node/rgb/image_rect_color/theora/parameter_descriptions
/zedm/zed_node/rgb/image_rect_color/theora/parameter_updates
/zedm/zed_node/rgb/image_rect_gray
/zedm/zed_node/rgb/image_rect_gray/compressed
/zedm/zed_node/rgb/image_rect_gray/compressed/parameter_descriptions
/zedm/zed_node/rgb/image_rect_gray/compressed/parameter_updates
/zedm/zed_node/rgb/image_rect_gray/compressedDepth
/zedm/zed_node/rgb/image_rect_gray/compressedDepth/parameter_descriptions
/zedm/zed_node/rgb/image_rect_gray/compressedDepth/parameter_updates
/zedm/zed_node/rgb/image_rect_gray/theora
/zedm/zed_node/rgb/image_rect_gray/theora/parameter_descriptions
/zedm/zed_node/rgb/image_rect_gray/theora/parameter_updates
/zedm/zed_node/rgb_raw/camera_info
/zedm/zed_node/rgb_raw/image_raw_color
/zedm/zed_node/rgb_raw/image_raw_color/compressed
/zedm/zed_node/rgb_raw/image_raw_color/compressed/parameter_descriptions
/zedm/zed_node/rgb_raw/image_raw_color/compressed/parameter_updates
/zedm/zed_node/rgb_raw/image_raw_color/compressedDepth
/zedm/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_descriptions
/zedm/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_updates
/zedm/zed_node/rgb_raw/image_raw_color/theora
/zedm/zed_node/rgb_raw/image_raw_color/theora/parameter_descriptions
/zedm/zed_node/rgb_raw/image_raw_color/theora/parameter_updates
/zedm/zed_node/rgb_raw/image_raw_gray
/zedm/zed_node/rgb_raw/image_raw_gray/compressed
/zedm/zed_node/rgb_raw/image_raw_gray/compressed/parameter_descriptions
/zedm/zed_node/rgb_raw/image_raw_gray/compressed/parameter_updates
/zedm/zed_node/rgb_raw/image_raw_gray/compressedDepth
/zedm/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zedm/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_updates
/zedm/zed_node/rgb_raw/image_raw_gray/theora
/zedm/zed_node/rgb_raw/image_raw_gray/theora/parameter_descriptions
/zedm/zed_node/rgb_raw/image_raw_gray/theora/parameter_updates
/zedm/zed_node/right/camera_info
/zedm/zed_node/right/image_rect_color
/zedm/zed_node/right/image_rect_color/compressed
/zedm/zed_node/right/image_rect_color/compressed/parameter_descriptions
/zedm/zed_node/right/image_rect_color/compressed/parameter_updates
/zedm/zed_node/right/image_rect_color/compressedDepth
/zedm/zed_node/right/image_rect_color/compressedDepth/parameter_descriptions
/zedm/zed_node/right/image_rect_color/compressedDepth/parameter_updates
/zedm/zed_node/right/image_rect_color/theora
/zedm/zed_node/right/image_rect_color/theora/parameter_descriptions
/zedm/zed_node/right/image_rect_color/theora/parameter_updates
/zedm/zed_node/right/image_rect_gray
/zedm/zed_node/right/image_rect_gray/compressed
/zedm/zed_node/right/image_rect_gray/compressed/parameter_descriptions
/zedm/zed_node/right/image_rect_gray/compressed/parameter_updates
/zedm/zed_node/right/image_rect_gray/compressedDepth
/zedm/zed_node/right/image_rect_gray/compressedDepth/parameter_descriptions
/zedm/zed_node/right/image_rect_gray/compressedDepth/parameter_updates
/zedm/zed_node/right/image_rect_gray/theora
/zedm/zed_node/right/image_rect_gray/theora/parameter_descriptions
/zedm/zed_node/right/image_rect_gray/theora/parameter_updates
/zedm/zed_node/right_raw/camera_info
/zedm/zed_node/right_raw/image_raw_color
/zedm/zed_node/right_raw/image_raw_color/compressed
/zedm/zed_node/right_raw/image_raw_color/compressed/parameter_descriptions
/zedm/zed_node/right_raw/image_raw_color/compressed/parameter_updates
/zedm/zed_node/right_raw/image_raw_color/compressedDepth
/zedm/zed_node/right_raw/image_raw_color/compressedDepth/parameter_descriptions
/zedm/zed_node/right_raw/image_raw_color/compressedDepth/parameter_updates
/zedm/zed_node/right_raw/image_raw_color/theora
/zedm/zed_node/right_raw/image_raw_color/theora/parameter_descriptions
/zedm/zed_node/right_raw/image_raw_color/theora/parameter_updates
/zedm/zed_node/right_raw/image_raw_gray
/zedm/zed_node/right_raw/image_raw_gray/compressed
/zedm/zed_node/right_raw/image_raw_gray/compressed/parameter_descriptions
/zedm/zed_node/right_raw/image_raw_gray/compressed/parameter_updates
/zedm/zed_node/right_raw/image_raw_gray/compressedDepth
/zedm/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zedm/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_updates
/zedm/zed_node/right_raw/image_raw_gray/theora
/zedm/zed_node/right_raw/image_raw_gray/theora/parameter_descriptions
/zedm/zed_node/right_raw/image_raw_gray/theora/parameter_updates
/zedm/zed_node/stereo/image_rect_color
/zedm/zed_node/stereo/image_rect_color/compressed
/zedm/zed_node/stereo/image_rect_color/compressed/parameter_descriptions
/zedm/zed_node/stereo/image_rect_color/compressed/parameter_updates
/zedm/zed_node/stereo/image_rect_color/compressedDepth
/zedm/zed_node/stereo/image_rect_color/compressedDepth/parameter_descriptions
/zedm/zed_node/stereo/image_rect_color/compressedDepth/parameter_updates
/zedm/zed_node/stereo/image_rect_color/theora
/zedm/zed_node/stereo/image_rect_color/theora/parameter_descriptions
/zedm/zed_node/stereo/image_rect_color/theora/parameter_updates
/zedm/zed_node/stereo_raw/image_raw_color
/zedm/zed_node/stereo_raw/image_raw_color/compressed
/zedm/zed_node/stereo_raw/image_raw_color/compressed/parameter_descriptions
/zedm/zed_node/stereo_raw/image_raw_color/compressed/parameter_updates
/zedm/zed_node/stereo_raw/image_raw_color/compressedDepth
/zedm/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_descriptions
/zedm/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_updates
/zedm/zed_node/stereo_raw/image_raw_color/theora
/zedm/zed_node/stereo_raw/image_raw_color/theora/parameter_descriptions
/zedm/zed_node/stereo_raw/image_raw_color/theora/parameter_updates
- 查看画面
$ rosrun image_view image_view image:=/zedm/zed_node/rgb/image_rect_color
参考资料
- https://www.ncnynl.com/archives/202009/3895.html
- https://www.stereolabs.com/blog/ros-and-nvidia-jetson-xavier-nx/
- https://www.stereolabs.com/blog/getting-started-with-jetson-xavier-nx
- https://www.bilibili.com/read/cv11031642
- https://github.com/stereolabs/zed-python-api/issues/148
- https://github.com/stereolabs/zed-python-api/tree/master/src
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