When encoding is set to ‘yuv422’, the pixel format YUV422::YUYV from the ZED camera is converted to YUV422::UYVY format considering the compatibility with LDC hardware accelerator. The images are obtained by center-cropping the original 1080p images captured from the ‘FHD’ mode. ‘HD2’ is a newly added mode that provides 720p resolution for experiments that need a longer focal length than the native ‘HD’. The images are obtained by cropping top and bottom evenly the original 1080p images captured from the ‘FHD’ mode. ‘FHD2’ is a newly added mode that provides 1920x1024 resolution that is supported by the stereo depth engine (SDE) HWA. camera, used in this project, is a low-cost, lightweight and handy camera system configuration based on passive stereo vision. Typically /dev/video2 on the targetįrame rate at which raw images are published Stereolab ZED make use of the stereo vision to estimate the depth. Also update relevant parameters in nodes/*/params.yaml files for each of demo applications.Ĭamera device name. Remember to run colcon build after any modification) to modify zed_sn_str parameter. Update launch/zed_capture.launch ( launch/zed_capture_launch.py in ROS2. This script parses the calibration data and generates the following files:Ĭonfig/_camera_info_.bin: undistortion and rectification remap LUT for left and right raw images. The stereoscopic camera uses two high-resolution sensors to detect vehicles and objects. The aim here is to combine depth-of-field detection (up to 20 m) with object detection, in particular human beings in movement. If the -m argument is not provided, by default the tool will iterate for the following three camera modes: HD, HD2, FHD and FHD2. The ZED 2 camera offers greater depth detection with a 120 wide-angle field of view. Valid : 2K, FHD, FHD2, HD, HD2, VGA (see Launch File Parameters section for description). nf is the factory calibration data file obtained from Step 1, and
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