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Interface ZED Stereo Camera #43

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7 of 8 tasks
erickmu1 opened this issue Dec 2, 2019 · 0 comments
Open
7 of 8 tasks

Interface ZED Stereo Camera #43

erickmu1 opened this issue Dec 2, 2019 · 0 comments
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@erickmu1

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erickmu1 commented Dec 2, 2019 •
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Description:

  • Set up ROS launch file to enable publishing Stereo Camera data in ROS

Goals:

  • Launch appropriate nodes to interface ZED Stereo Camera with a (multiple) topic(s)
  • Connect ZED odometry to robot_localization
  • Update caffeine_setup.launch to automatically launch ZED stereo cam
  • Connect ZED stereo cam appropriately to our tf tree
  • Add appropriate odom --> zed_camera_link offset or change frame_id for Visual Odometry topic

Acceptance Criteria:

  • Can visualize PointCloud/Depth/RGB Images.
  • ZED stereo cam integrates into tf tree without conflicts
  • Visual odometry is integrated

Notes:

  • Some topics of interest may be PointCloud, Depth Images, RGB Images, Stereo Matrix, Camera Intrinsic Matrix.
  • Visualization can be done using rviz or OpenCV.
  • See here for info on how to interface ZED Stereo Camera with ROS.
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@1999michael @kajananchinniah @erickmu1 @AbiJaya1998