zed_wrapper

ZED驱动安装

https://www.stereolabs.com/docs/ros/

ZED ROS功能包

https://github.com/stereolabs/zed-ros-wrapper

 cd ~/catkin_ws/src
 git clone --recursive https://github.com/stereolabs/zed-ros-wrapper.git
 cd ../
 rosdep install --from-paths src --ignore-src -r -y
 catkin_make -DCMAKE_BUILD_TYPE=Release
 source ./devel/setup.bash

Run the ZED wrapper
To launch the ZED node use

ZED camera:

$ roslaunch zed_wrapper zed.launch
ZED Mini camera:

$ roslaunch zed_wrapper zedm.launch
ZED2 camera:

$ roslaunch zed_wrapper zed2.launch
ZED2i camera:

$ roslaunch zed_wrapper zed2i.launch
To select the ZED from its serial number:

$ roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN
启动相机前要修改下参数zed-ros-wrapper/zed_wrapper/params/common.yaml)，首先vga格式，其次帧率，见https://www.stereolabs.com/docs/ros/zed-node/#zed-parameters

general/resolution  0: HD2K, 1: HD1080, 2: HD720, 3: VGA
general/pub_frame_rate	Frequency of the publishing of Video and Depth images (equal or minor to grab_frame_rate value)	float [0.1,100.0]

查看内存占用情况

sudo -H pip install jetson-stats

使用方法，直接在命令行输入

jtop

优秀博文

http://www.luohanjie.com/2018-07-06/zed-mini-camera-development-environment-configuration.html