ZED Camera¶

Isaac SDK supports the StereoLabs ZED and ZED Mini (ZED-M) stereo cameras.

Apply the procedures in this section to download the mill calibration file or perform local calibration on a camera.

Important

  • Local scale of the ZED photographic camera is a must for getting authentic results from computer-vision applications like stereo visual odometry.

  • A special UDEV rule should be added to a Linux system for user applications to work with the ZED-M IMU. Hither'southward a rule that's added past the ZED SDK:

                          bob@desktop:~/isaac$ cat /etc/udev/rules.d/99-slabs.rules                      # HIDAPI/libusb                      SUBSYSTEM                      ==                      "usb", ATTRS{idVendor}==                      "2b03", ATTRS{idProduct}==                      "f681",                      MODE                      =                      "0666"                      SUBSYSTEM                      ==                      "usb", ATTRS{idVendor}==                      "0483", ATTRS{idProduct}==                      "df11",                      MODE                      =                      "0666"                      # HIDAPI/hidraw                      KERNEL                      ==                      "hidraw*", ATTRS{busnum}==                      "1", ATTRS{idVendor}==                      "0x2b03", ATTRS{idProduct}==                      "0xf681",                      Mode                      =                      "0666"

Annotation

The file paths in these instructions use the default installation location for the ZED SDK: /usr/local/zed. If yous accept installed the ZED SDK in a different location, y'all will need to modify the ZED SDK file paths accordingly.

Codelets¶

  • isaac::ZedCamera : Publishes color or monochrome stereo pair images captured by a ZED camera. Information technology doesn't provide access to depth sensing, positional tracking, spatial mapping, or other advanced features of the ZED SDK.

  • isaac::zed::ZedImuReader : Publishes IMU readings (linear acceleration and angular velocity) captured from a ZED-M IMU. This codelet should exist added to the same node equally the isaac::ZedCamera codelet. The linear acceleration and angular velocity vectors are given in COORDINATE_SYSTEM_IMAGE, which is the standard right-handed coordinate system used in OpenCV: the Ten coordinate points to the correct, Y points to the lesser, and Z points away from the optical axis of the left camera:

    ../../../_images/zed_coordinate_systems.jpg

Supported Firmware¶

  • Camera firmware version 1142 is supported and tested for the ZED camera.

  • Camera firmware version 1523 and IMU firmware version 515 are supported and tested for the ZED-M camera.

Use the ZED Explorer SDK tool to upgrade or downgrade the camera firmware to a supported version equally needed. The ZED Explorer executable is located in /usr/local/zed/tools/.

Download the Factory Calibration File¶

  1. Connect the ZED photographic camera to the host PC and install ZED SDK 2.8.3 from the following website: https://world wide web.stereolabs.com/developers/release/.

  2. Every ZED photographic camera is identified by a unique serial number and comes manufactory calibrated. Find the serial number on the ZED camera box, or run bazel run apps/samples/zed_camera to print the camera serial number to stdout and in the Sight application.

    The scale file is required for the ZED photographic camera to work. The name of the calibration file is SN<serial_number>.conf, where "<serial_number>" is the serial number of the camera.

  3. Download the manufactory-scale file for your ZED camera with the following control:

                        bob@desktop:~/isaac$ engine/build/scripts/download_zed_calibration.sh -s <zed_camera_serial_number>

Tip

Alternatively, y'all can use the ZED Explorer tool to download a factory-scale file. The ZED Explorer executable is located in /usr/local/zed/tools/. Download the manufactory-calibration file for your ZED camera with the post-obit command:

                  bob@desktop:~/isaac$ /usr/local/zed/tools/ZED\                  Explorer --dc <zed_camera_serial_number>

  1. Copy the downloaded SN<serial_number>.conf file to the /usr/local/zed/settings directory on an NVIDIA Jetson board.

Improve Camera Accuracy With Local Calibration¶

  1. Connect the ZED camera to the host PC and install ZED SDK 2.8.3 from the following website: https://world wide web.stereolabs.com/developers/release/.

  2. Get-go the ZED scale utility:

                        bob@desktop:~/isaac$ /usr/local/zed/tools/ZED\                    Calibration

  3. Follow the on-screen instructions to perform photographic camera calibration. The calibration utility writes a new SN<serial_number>.conf calibration file to the default settings directory (/usr/local/zed/settings), overwriting the existing file.

  4. Copy the scale file to the /usr/local/zed/settings directory on an NVIDIA Jetson board.

Specify a Custom Location for the Photographic camera Calibration File¶

If needed, utilize the settings_folder_path parameter in the ZedCamera codelet to specify a custom path for the directory containing the photographic camera calibration file.