Optical origin reference for ZedX and ZedX One

Hardware
1

I’m currently trying to set up the zed_multi.urdf.xacro method with multiple cameras (1 stereo, 2 mono).

What are the optical origins of the ZedX and ZedXOne GS to position them in the reference frame?

2

Hi @d1324
you can extract this information from the xacro files of the ZED ROS 2 Wrapper:

3

@Myzhar Thank you. So define the camera relations based on each ¼-20" threaded screw hole?

Looks like the reference point of the zedx is the center of camera between the eyes and not the left eye correct?

4

Yes, this is correct when using ROS and ROS 2.