Stereo ZED X One with ROS2 Wrapper

[jdcast]

I’m trying to understand the software configuration necessary to run the zed ROS2 node with two ZED X One cameras configured as a stereo pair.

I’ve created a virtual camera using the ZED_Media_Server.

1. Am I required to have the zed_media_server_cli.service active when using the zed node?
2. If so, what port do I pass to the zed node? (I assume I need to provide it a streaming address/port)
3. Lastly, I usually calibrate using my own tooling (not stereolabs’ CLI calibration tools). Will I just provide my custom calibration file (as usual) to the zed node’s calibration file parameter? Does its form factor change at all in comparison to one I might give using a true stereo camera such as the zed x mini?

[Myzhar]

Hi @jdcast

@jdcast

Am I required to have the zed_media_server_cli.service active when using the zed node?

Yes, the ZED Media Server is required. You can run it as a service or a GUI application

@jdcast

If so, what port do I pass to the zed node? (I assume I need to provide it a streaming address/port)

It depends on the configuration you created. Address and port are clearly indicated in the ZED Media Server GUI.

@jdcast

Lastly, I usually calibrate using my own tooling (not stereolabs’ CLI calibration tools). Will I just provide my custom calibration file (as usual) to the zed node’s calibration file parameter? Does its form factor change at all in comparison to one I might give using a true stereo camera such as the zed x mini?

Yes, you can use a Custom OpenCV-like calibration file