diff --git a/zed_wrapper/config/common_mono.yaml b/zed_wrapper/config/common_mono.yaml index 67c88495..ee0a4832 100644 --- a/zed_wrapper/config/common_mono.yaml +++ b/zed_wrapper/config/common_mono.yaml @@ -7,7 +7,7 @@ general: serial_number: 0 # overwritten by launch file pub_resolution: "NATIVE" # The resolution used for output. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission - pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM' + pub_downscale_factor: 1.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM' gpu_id: -1 optional_opencv_calibration_file: "" # Optional path where the ZED SDK can find a file containing the calibration information of the camera computed by OpenCV. Read the ZED SDK documentation for more information: https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#a9eab2753374ef3baec1d31960859ba19 diff --git a/zed_wrapper/config/common_stereo.yaml b/zed_wrapper/config/common_stereo.yaml index 57fdb6cb..65e847a7 100644 --- a/zed_wrapper/config/common_stereo.yaml +++ b/zed_wrapper/config/common_stereo.yaml @@ -25,9 +25,9 @@ camera_flip: false self_calib: true # Enable the self-calibration process at camera opening. See https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#affeaa06cfc1d849e311e484ceb8edcc5 serial_number: 0 # overwritten by launch file - pub_resolution: 'CUSTOM' # The resolution used for image and depth map publishing. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission - pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM' - pub_frame_rate: 30.0 # frequency of publishing of visual images and depth images + pub_resolution: 'NATIVE' # The resolution used for image and depth map publishing. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission + pub_downscale_factor: 1.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM' + pub_frame_rate: 10.0 # frequency of publishing of visual images and depth images enable_image_validity_check: 1 # [SDK5 required] Sets the image validity check. If set to 1, the SDK will check if the frames are valid before processing. gpu_id: -1 optional_opencv_calibration_file: '' # Optional path where the ZED SDK can find a file containing the calibration information of the camera computed by OpenCV. Read the ZED SDK documentation for more information: https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#a9eab2753374ef3baec1d31960859ba19 @@ -37,7 +37,7 @@ video: saturation: 4 # [DYNAMIC] - sharpness: 4 # [DYNAMIC] + sharpness: 8 # [DYNAMIC] gamma: 8 # [DYNAMIC] auto_exposure_gain: true # [DYNAMIC] exposure: 80 # [DYNAMIC] @@ -67,13 +67,13 @@ apply_to_spatial_mapping: true # Apply ROI to spatial mapping processing depth: - depth_mode: 'NEURAL_LIGHT' # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...) + depth_mode: 'NEURAL_PLUS' # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...) depth_stabilization: 30 # Forces positional tracking to start if major than 0 - Range: [0,100] openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters] - point_cloud_freq: 15.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `pub_frame_rate` value) + point_cloud_freq: 10.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `pub_frame_rate` value) point_cloud_res: 'COMPACT' # The resolution used for point cloud publishing - 'COMPACT'-Standard resolution. Optimizes processing and bandwidth, 'REDUCED'-Half resolution. Low processing and bandwidth requirements - depth_confidence: 95 # [DYNAMIC] - depth_texture_conf: 100 # [DYNAMIC] + depth_confidence: 93 # [DYNAMIC] + depth_texture_conf: 95 # [DYNAMIC] remove_saturated_areas: true # [DYNAMIC] # Other parameters are defined, according to the camera model, in the 'zed.yaml', 'zedm.yaml', 'zed2.yaml', 'zed2i.yaml' # 'zedx.yaml', 'zedxmini.yaml', 'virtual.yaml' files diff --git a/zed_wrapper/config/zedm.rviz b/zed_wrapper/config/zedm.rviz new file mode 100644 index 00000000..ffe6edbc --- /dev/null +++ b/zed_wrapper/config/zedm.rviz @@ -0,0 +1,520 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 240 + Name: Displays + Property Tree Widget: + Expanded: + - /Video1 + - /Depth1 + - /Depth1/PointCloud21 + - /Positioning1/TF1/Tree1 + - /Body Tracking1/Bodies1 + - /ZED Mapping1/Planes1/Namespaces1 + Splitter Ratio: 0.4711359441280365 + Tree Height: 375 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: nav2_rviz_plugins/Navigation 2 + Name: Navigation 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/robot_description + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + zed_camera_center: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + zed_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + zed_left_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + zed_left_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + zed_right_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + zed_right_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: CameraModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RGB + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/rgb/image_rect_color + Value: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Stereo + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/stereo/image_rect_color + Value: false + Enabled: true + Name: Video + - Class: rviz_common/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 4 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 1 + Durability Policy: Volatile + Filter size: 1 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/point_cloud/cloud_registered + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 10 + Median window: 5 + Min Value: 0 + Name: Depth Map + Normalize Range: false + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/depth/depth_registered + Value: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Confidence Map + Normalize Range: false + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/confidence/confidence_map + Value: false + Enabled: true + Name: Depth + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + map: + Value: true + odom: + Value: true + zed_camera_center: + Value: true + zed_camera_link: + Value: true + zed_left_camera_frame: + Value: true + zed_left_camera_optical_frame: + Value: false + zed_right_camera_frame: + Value: true + zed_right_camera_optical_frame: + Value: false + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + zed_camera_link: + zed_camera_center: + zed_left_camera_frame: + zed_left_camera_optical_frame: + {} + zed_right_camera_frame: + zed_right_camera_optical_frame: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/Pose + Color: 50; 225; 50 + Enabled: true + Head Length: 0.05000000074505806 + Head Radius: 0.03999999910593033 + Name: Pose + Shaft Length: 0.30000001192092896 + Shaft Radius: 0.019999999552965164 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/pose + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/path_map + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 255; 25; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Odometry Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/path_odom + Value: true + Enabled: true + Name: Positioning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugin_zed_od/ZedOdDisplay + Enabled: true + Joint Radius: 0.10000000149011612 + Label Scale: 3 + Link Size: 0.05000000074505806 + Name: Objects + Show Bounding Boxes: true + Show Labels: true + Show Skeletons: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/obj_det/objects + Transparency: 0.25 + Value: true + Enabled: false + Name: Object Detection + - Class: rviz_common/Group + Displays: + - Class: rviz_plugin_zed_od/ZedOdDisplay + Enabled: true + Joint Radius: 0.10000000149011612 + Label Scale: 3 + Link Size: 0.02500000037252903 + Name: Bodies + Show Bounding Boxes: false + Show Labels: true + Show Skeletons: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/body_trk/skeletons + Transparency: 0.25 + Value: true + Enabled: false + Name: Body Tracking + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Planes + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/plane_marker + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Fused Cloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/mapping/fused_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: false + Name: ZED Mapping + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 60 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.589871644973755 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.2948402762413025 + Y: -0.4252110421657562 + Z: 0.7866655588150024 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.17979778349399567 + Target Frame: map + Value: Orbit (rviz_default_plugins) + Yaw: 3.2473537921905518 + Saved: + - Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: map + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 +Window Geometry: + Confidence Map: + collapsed: false + Depth Map: + collapsed: false + Displays: + collapsed: false + Height: 773 + Hide Left Dock: false + Hide Right Dock: false + Navigation 2: + collapsed: false + QMainWindow State: 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 + RGB: + collapsed: false + Selection: + collapsed: false + Stereo: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1440 + X: 1552 + Y: 244 \ No newline at end of file diff --git a/zed_wrapper/config/zedm.yaml b/zed_wrapper/config/zedm.yaml index e1aa71f1..2da4b54f 100644 --- a/zed_wrapper/config/zedm.yaml +++ b/zed_wrapper/config/zedm.yaml @@ -7,11 +7,11 @@ camera_model: 'zedm' camera_name: 'zedm' # overwritten by launch file grab_resolution: 'HD2K' # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO' - grab_frame_rate: 30 # ZED SDK internal grabbing rate + grab_frame_rate: 10 # ZED SDK internal grabbing rate video: brightness: 4 # [DYNAMIC] Image brightness. Range: 0-8 - contrast: 4 # [DYNAMIC] Image contrast. Range: 0-8 + contrast: 8 # [DYNAMIC] Image contrast. Range: 0-8 hue: 0 # [DYNAMIC] Image hue. Range: 0 to 11 depth: diff --git a/zed_wrapper/launch/zed_camera.launch.py b/zed_wrapper/launch/zed_camera.launch.py index e10ea0b6..5946b646 100644 --- a/zed_wrapper/launch/zed_camera.launch.py +++ b/zed_wrapper/launch/zed_camera.launch.py @@ -235,6 +235,19 @@ def launch_setup(context, *args, **kwargs): ) return_array.append(rsp_node) + + rviz2_node = Node( + package='rviz2', + namespace=camera_name_val, + executable='rviz2', + name=camera_model_val +'_rviz2', + output='screen', + arguments=[['-d'], ['/local/pruning_workspace/src/zed-ros-wrapper/zed_wrapper/config/zedm.rviz']], + parameters=[{'use_sim_time': publish_svo_clock}] + ) + + return_array.append(rviz2_node) + # ROS 2 Component Container if(container_name_val == ''): container_name_val='zed_container'