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changes.mady.by.user Vladimir Khusainov

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  1. Open a terminal window and login onto the RZ/V2H EVK board using ssh:

    Code Block
    <terminal 1>$ ssh user@<evk IP>

  2. Connect the ZED camera to the EVK USB 3.x interface.

  3. Check that ZED camera is recognized by USB:

    Code Block
    user@rzv2hevkalphaemc:~$ v4l2-ctl --list-devices
...
ZED 2i: ZED 2i (usb-15860000.usb-1):
        /dev/video0
        /dev/video1
        /dev/media5
...

  4. Run the ROS2 camera node wrapper:

    Code Block
    <terminal 1>$ ros2 launch zed_capture zed_capture_launch.py zed_sn_str:=SN10026720

    Note: If the camera is attached to a different /dev/videoX node, then add the cam_id:=<node num> argument to ros2 launch (eg cam_id:=2 for /dev/video2).

    The node will start with providing logs and information on the detected ZED camera:

    Code Block
    [INFO] [launch]: All log files can be found below /home/user/.ros/log/2023-12-18-11-24-52-897616-rzv2hevkalpha-2902
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [zed_capture-1]: process started with pid [2945]
[zed_capture-1] [INFO] [1702898698.084998416] [zed_capture]: Initialize the ZED camera
[zed_capture-1] [ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (2075) handleMessage OpenCV | GStreamer warning: Embedded video playback halted; module source reported: Could not read from resource.
[zed_capture-1] [ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (1053) open OpenCV | GStreamer warning: unable to start pipeline
[zed_capture-1] [ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (616) isPipelinePlaying OpenCV | GStreamer warning: GStreamer: pipeline have not been created
[zed_capture-1] [INFO] [1702898699.271579125] [StereoCamera]: YUV422
[zed_capture-1] [INFO] [1702898699.271702458] [StereoCamera]: Stereo Camera Mode HD, width 1280, height 720
[zed_capture-1] [INFO] [1702898699.432589500] [zed_capture]: Loading camera info from yaml files
[zed_capture-1] [INFO] [1702898699.435826125] [zed_capture]: camera calibration URL: file:///opt/ros/humble/share/zed_capture/config/SN10026720_HD_camera_info_left.yaml
[zed_capture-1] [INFO] [1702898699.439227625] [zed_capture]: camera calibration URL: file:///opt/ros/humble/share/zed_capture/config/SN10026720_HD_camera_info_right.yaml
[zed_capture-1] [INFO] [1702898705.495579435] [zed_capture]: Successfully found the ZED camera
...

  5. Open another terminal window and login onto the EVK:

    Code Block
    <terminal 2>$ ssh user@<evk IP>

  6. Verify that the camera related topics are present:

    Code Block
    <terminal 2>$ ros2 topic list
/camera/left/camera_info
/camera/left/image_raw
/camera/right/camera_info
/camera/right/image_raw
/parameter_events
/rosout

  7. Capture the camera information via the camera/left/camera_info topic:

    Code Block
    <terminal 2>$ ros2 topic echo /camera/left/camera_info

    The application will start receiving the camera info message:

    Code Block
    header:
  stamp:
    sec: 1695145271
    nanosec: 503948931
  frame_id: left_frame
height: 720
width: 1280
distortion_model: plumb_bob
d:
- -0.174814
- 0.0277134
- 0.0
- 0.0
- 0.0
k:
- 701.695
- 0.0
- 645.375
- 0.0
- 701.695
- 351.9755
- 0.0
- 0.0
- 1.0
r:
- 0.9999991771672719
- 0.00021264049636184653
- -0.0012650884548001328
- -0.00021565273732970637
- 0.9999971412291467
- -0.0023813919103813186
- 0.001264578457844275
- 0.0023816627706823587
- 0.999996364255276
p:
- 686.7164431988998
- 0.0
- 643.5791931152344
- 0.0
- 0.0
- 686.7164431988998
- 342.6826591491699
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: false
---
...

  8. Capture the camera information via the camera/right/camera_info topic:

    Code Block
    <terminal 2>$ ros2 topic echo /camera/right/camera_info

    The application will start receiving the camera info message:

    Code Block
    header:
  stamp:
    sec: 1695145324
    nanosec: 367362789
  frame_id: right_frame
height: 720
width: 1280
distortion_model: plumb_bob
d:
- -0.174312
- 0.0273345
- 0.0
- 0.0
- 0.0
k:
- 700.655
- 0.0
- 636.98
- 0.0
- 700.655
- 343.9995
- 0.0
- 0.0
- 1.0
r:
- 1.0
- 2.1923516186951437e-14
- -1.2767118909117024e-13
- -2.1624428776507077e-14
- 0.9999971641585754
- 0.002381527830432345
- 1.2772216711642694e-13
- -0.002381527830432344
- 0.9999971641585754
p:
- 686.7164431988998
- 0.0
- 643.5791931152344
- -30357.52616045848
- 0.0
- 686.7164431988998
- 342.6826591491699
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: false
---
...

  9. Capture the camera information via the camera/left/camera_info topic:

    Code Block
    <terminal 2>$ ros2 topic echo /camera/left/image_raw

    The application will start receiving the camera info message:

    Code Block
    header:
  stamp:
    sec: 1695145357
    nanosec: 770892888
  frame_id: left_frame
height: 720
width: 1280
encoding: yuv422
is_bigendian: 0
step: 2560
data:
- 132
- 11
- 134
- 12
- 132
- 11
- 134
- 11
- 132
- 11
- 134
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- 133
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- 133
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- 133
- 33
- 138
- 29
- 134
- 46
- 137
- 90
- 120
- 162
- 135
- 170
- 106
- 153
- 135
- 105
- 121
- 57
- 133
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- 131
- 37
- 133
- 40
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- 131
- 32
- 134
- 25
- '...'
---
...

  10. Capture the camera information via the camera/right/camera_info topic:

    Code Block
    <terminal 2>$ ros2 topic echo /camera/right/image_raw

    The application will start receiving the camera info message:

    Code Block
    header:
  stamp:
    sec: 1695145404
    nanosec: 252655285
  frame_id: right_frame
height: 720
width: 1280
encoding: yuv422
is_bigendian: 0
step: 2560
data:
- 131
- 29
- 134
- 25
- 131
- 25
- 134
- 25
- 132
- 29
- 134
- 27
- 132
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- 134
- 14
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- 12
- 132
- 12
- 134
- 12
- '...'
---
...

...