Crop All Measurement in specific Region

mahdinobar · September 4, 2024, 8:22am

I only need to measured the color image and depth map in specific region. The processing in the rest of the image is irrelevant for my application. Is there any way to specify this to avoid any processing outside my region of interest? I use ROS1 to subscribe to the measurements. Thank you for your responses in advance.

Myzhar · September 4, 2024, 8:29am

Hi @mahdinobar
have you tried the Region of Interest parameter?

github.com

stereolabs/zed-ros-wrapper/blob/master/zed_wrapper/params/common.yaml#L35


      
              gpu_id:                     -1
              base_frame:                 'base_link'                     # must be equal to the frame_id used in the URDF file
              sdk_verbose:                1                               # Set verbose level of the ZED SDK
              svo_compression:            2                               # `0`: LOSSLESS, `1`: AVCHD, `2`: HEVC
              self_calib:                 true                            # enable/disable self calibration at starting
              camera_flip:                'AUTO'                          # camera flip mode: 'OFF', 'ON', 'AUTO'
              pub_resolution:             'CUSTOM'                        # 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_frame_rate:             15.0                            # frequency of publishing of video and depth data (see SDK API "InitParameters::grab_compute_capping_fps")
              svo_realtime:               true                            # if true the input SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the `pub_frame_rate` setting
              region_of_interest:         '[]'                            # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
              #region_of_interest:        '[[0.25,0.33],[0.75,0.33],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
              #region_of_interest:        '[[0.25,0.25],[0.75,0.25],[0.75,0.75],[0.25,0.75]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
              #region_of_interest:        '[[0.5,0.25],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
          
          #video:
          
          depth:
              depth_mode:                 'ULTRA'                         # 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', `NEURAL_PLUS`
              depth_stabilization:        1                               # [0-100] - 0: Disabled
              openni_depth_mode:          false                           # 'false': 32bit float meter units, 'true': 16bit uchar millimeter units