Hi, I wanted to use my ZED2 camera to perform 3D reconstruction in underwater environments. To do this, I need to recalibrate my camera and can’t use the ZED Calibration tool, but I was thinking of using images taken with the ZED2 in a waterproof case. I’ve already read the link How to Calibrate your ZED camera with OpenCV - Stereolabs, but I’m using ROS1 to run rtab-map. I was also thinking of using Matlab’s Stereo Camera Calibration because it’s very intuitive for obtaining my calibration parameters. How can I run zed_wrapper and set the new calibration parameters? I see that my /camera_info topics on ROS1 only change if I change the .config file. Thanks.
Hi @alebenna
Welcome to the Stereolabs community.
I recommend you upgrade to ROS 2 for two reasons:
- ROS 1 is EOL and it’s no longer supported
- The ROS 2 Wrapper allows you to set an OpenCV-like custom calibration file: zed-ros2-wrapper/zed_wrapper/config/common_stereo.yaml at master · stereolabs/zed-ros2-wrapper · GitHub
Yes I know that ROS1 is old but the work group with which I am doing the thesis has not yet switched to ROS2. So isn’t there a way to specify my calibration parameters with ROS1? I could modify the .config file alternatively but there are many more parameters than those obtained from my calibration. Thanks again.
No, the feature is not available in the ROS Wrapper and we will never add it because it’s no longer maintained.
The code is open source, you can manually add it using the ROS 2 Wrapper as example.
OK I got it, thank you very much.