Hello,
I’m currently using a ZED2i camera with the Jetson AGX Orin 32GB Dev Kit, and I’ve encountered an issue with RGB image quality after upgrading the ZED SDK. I’d appreciate any advice or clarification on this.
System Configuration
- Device: Jetson AGX Orin 32GB Dev Kit
- JetPack: 5.1.2
- ZED SDK: 5.0.2
- ROS Version: ROS Noetic (ROS1)
- Camera Model: ZED2i
- Topic:
/zed/zed_node/rgb/image_rect_color(HD720 rectified RGB)
Issue Summary
After upgrading from ZED SDK 4.x to 5.0.2, I noticed that the rectified RGB image at HD720 resolution appears blurry and noisy (wavy artifacts) compared to SDK 4.x, where the image was significantly cleaner and sharper using the same ROS1 setup.
Test Comparison
- With ZED SDK 4.x, image quality on
/rgb/image_rect_colorwas good. - With ZED SDK 5.0.2, image appears degraded with noticeable blur and artifacts.
What I Tried (Based on ChatGPT suggestions)
I received the following advice that might help:
cpp
mZedParams.enable_image_enhancement = false;
And in common.yaml:
yaml
self_calib: false
image::brightness: 4
image::contrast: 4
image::hue: 0
image::saturation: 4
image::sharpness: 8
It was suggested that the issue might stem from automatic image enhancement or internal resizing behavior introduced in SDK 5.x.
My Questions
- Is the degradation of rectified RGB image quality in ZED SDK 5.x a known issue?
- Are the above settings (
enable_image_enhancement = false,self_calib = false, manualsharpnesstuning) officially recommended for preserving image quality? - What are the recommended parameters or best practices for obtaining the best possible rectified RGB image under ZED SDK 5.x + ROS1?