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0_0 i need to know what files changed #2

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8792bed
config update to improve depth image
Jun 24, 2025
e23340e
update
Jun 24, 2025
4f94885
rviz
Jun 25, 2025
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2 changes: 1 addition & 1 deletion zed_wrapper/config/common_mono.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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

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16 changes: 8 additions & 8 deletions zed_wrapper/config/common_stereo.yaml
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Expand Up @@ -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
Expand All @@ -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]
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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
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