ZED instead of D435i

[EhrazImam]

Hi @bigsuperZZZX Hope you are doing well I want to use ZED camera instead of d435, As i am able to run it with D435 i want know what parameters i need to change apart from depth topic and intrinsic values. Do i need to change something over here https://github.com/ZJU-FAST-Lab/ego-planner/blob/fcdfc5419dcc0c93105803e6f60b1b08b4e5152d/src/planner/plan_manage/launch/advanced_param.xml#L87-L94

[bigsuperZZZX]

Make sure the resolution is 640*480. No more modifications are required.

[EhrazImam]

I am using 720480 so do i need to change something or i have to make it 640480

[bigsuperZZZX]

Correcting this line should be OK

[FPSychotic]

If I'm using 320x240 should I change that line too?

On Tue, 31 Jan 2023, 12:08 Xin Zhou, @.***> wrote:

Correcting this line https://github.com/ZJU-FAST-Lab/ego-planner/blob/fcdfc5419dcc0c93105803e6f60b1b08b4e5152d/src/planner/plan_env/src/grid_map.cpp#L89 should be OK

— Reply to this email directly, view it on GitHub https://github.com/ZJU-FAST-Lab/ego-planner/issues/64#issuecomment-1410236886, or unsubscribe https://github.com/notifications/unsubscribe-auth/AITQOVGAMCQWX35ZBHV4EPDWVD6DZANCNFSM6AAAAAAUK2PSWY . You are receiving this because you are subscribed to this thread.Message ID: @.***>

[bigsuperZZZX]

I think so.

[wyz-coding]

Hi @bigsuperZZZX Hope you are doing well I want to use ZED camera instead of d435, As i am able to run it with D435 i want know what parameters i need to change apart from depth topic and intrinsic values. Do i need to change something over here

https://github.com/ZJU-FAST-Lab/ego-planner/blob/fcdfc5419dcc0c93105803e6f60b1b08b4e5152d/src/planner/plan_manage/launch/advanced_param.xml#L87-L94

May I ask if your experiment was successful?

I also used a ZED2i camera to replace the realsense d435i.

I replaced the topic of the depth image, changed the intrinsics of the depth image, and in the "ego planner/src/planner/plan Env/src/grid The map. cpp "code has modified the resolution to suit the resolution, and I have ensured that the depth image is normal.

But after I opened rviz, it still didn't display any maps. Do you know what other steps I need to take?

Thank you very much

[bigsuperZZZX]

Have you provided the necessary odometry or camera pose topic and set pose_type properly so that the callback function is called correctly?