Hello, I encountered the following two problems when using zed, could you help me solve them？

[daiwei125]

Hello Hello, I encountered the following two problems when using zed, could you help me solve them

1. How to set the coordinate system of zed camera in zed_ros_wrapper package so that the coordinate system belongs to which kind of coordinate system? Is it in the z-up form?
2. Can you use usr/local/zed, in this directory there is a setting folder, in this folder there is a SN8452341.conf data, can SN8452341.conf data from the pixel coordinates (U, V) to get the correct three-dimensional coordinates?

Thank you

[Myzhar]

Hi @daiwei125

@daiwei125

How to set the coordinate system of zed camera in zed_ros_wrapper package so that the coordinate system belongs to which kind of coordinate system? Is it in the z-up form?

The ZED ROS Wrapper uses a fixed coordinate system that matches the ROS standard described in REP103 and REP105: X Forward, Y Left, Z up.

@daiwei125

Can you use usr/local/zed, in this directory there is a setting folder, in this folder there is a SN8452341.conf data, can SN8452341.conf data from the pixel coordinates (U, V) to get the correct three-dimensional coordinates?

You can use the formulas in this support page.
Camera parameters are available in all the camera_info topics published by the ZED ROS Wrapper, you do not need to parse the conf file.

[daiwei125]

Thanks again, I will go and solve these problems through your method