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stereolabs / zed-ros-wrapper

ROS wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros/
MIT License
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ZED_node pubulish image data that does not conform to the config resolution #873

Closed ZhaoDidididi closed 1 year ago

ZhaoDidididi commented 1 year ago

Preliminary Checks

Description

The ZED_node pubulish image data that does not conform to the config resolution. The resolution of published image data is only one quarter of the setting. I have changed resolution from HD720 to HD1080 and rebuild project, but it show the same situation.

Steps to Reproduce

1.roscore 2.roslaunch zed_wrapper zed2.launch 3.rostopic echo /zed2/zed_node/left/image_rect_color/width

Expected Result

nx@nx-desktop:/media/nx/SSD$ rostopic echo /zed2/zed_node/left/image_rect_color/width

1280

Actual Result

nx@nx-desktop:/media/nx/SSD$ rostopic echo /zed2/zed_node/left/image_rect_color/width

640

ZED Camera model

ZED2

Environment

OS: Ubuntu 18.04
CPU：ARM
GPU：Nvidia Jetson Xavier NX
ZED SDK version：v3.8.1
ROS Melodic

Anything else?

You can view the launch log here.

nx@nx-desktop:/media/nx/SSD/zed_ws$ roslaunch zed_wrapper zed2.launch ... logging to /home/nx/.ros/log/6bf11dca-6971-11ed-b01a-d8c0a650eaa3/roslaunch-nx-desktop-14933.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://nx-desktop:38153/

SUMMARY

PARAMETERS

NODES /zed2/ zed2_state_publisher (robot_state_publisher/robot_state_publisher) zed_node (zed_wrapper/zed_wrapper_node)

auto-starting new master process[master]: started with pid [14960] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6bf11dca-6971-11ed-b01a-d8c0a650eaa3 process[rosout-1]: started with pid [14978] started core service [/rosout] process[zed2/zed2_state_publisher-2]: started with pid [14995] process[zed2/zed_node-3]: started with pid [14996] [ INFO] [1669017142.255035979]: Initializing nodelet with 6 worker threads. [ INFO] [1669017142.376103687]: ** Starting nodelet '/zed2/zed_node' ** [ INFO] [1669017142.376414485]: SDK version : 3.8.1 [ INFO] [1669017142.376603466]: GENERAL PARAMETERS [ INFO] [1669017142.378669363]: Camera Name -> zed2 [ INFO] [1669017142.380916208]: Camera Resolution -> HD720 [ INFO] [1669017142.383159662]: Camera Grab Framerate -> 15 [ INFO] [1669017142.385207800]: Gpu ID -> -1 [ INFO] [1669017142.387104522]: Camera ID -> -1 [ INFO] [1669017142.389200561]: Verbose -> DISABLED [ INFO] [1669017142.393884705]: Camera Flip -> DISABLED [ INFO] [1669017142.398819459]: Self calibration -> ENABLED [ INFO] [1669017142.403404922]: * Camera Model by param -> zed2 [ INFO] [1669017142.403604078]: VIDEO PARAMETERS [ INFO] [1669017142.405851788]: Image resample factor -> 0.5 [ INFO] [1669017142.408003632]: Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD [ INFO] [1669017142.408177158]: DEPTH PARAMETERS [ INFO] [1669017142.410989123]: Depth quality -> PERFORMANCE [ INFO] [1669017142.413132551]: Depth Sensing mode -> STANDARD [ INFO] [1669017142.415201967]: OpenNI mode -> DISABLED [ INFO] [1669017142.417556710]: Depth Stabilization -> ENABLED [ INFO] [1669017142.419627214]: Minimum depth -> 0.3 m [ INFO] [1669017142.422083104]: Maximum depth -> 20 m [ INFO] [1669017142.424268066]: * Depth resample factor -> 0.5 [ INFO] [1669017142.424393786]: POSITIONAL TRACKING PARAMETERS [ INFO] [1669017142.428481262]: Positional tracking -> ENABLED [ INFO] [1669017142.430638225]: Path rate -> 2 Hz [ INFO] [1669017142.432777525]: Path history size -> 1 [ INFO] [1669017142.438012902]: Odometry DB path -> /home/nx/.ros/zed_area_memory.area [ INFO] [1669017142.442871180]: Save Area Memory on closing -> DISABLED [ INFO] [1669017142.447056186]: Area Memory -> ENABLED [ INFO] [1669017142.452307914]: IMU Fusion -> ENABLED [ INFO] [1669017142.456990842]: Floor alignment -> DISABLED [ INFO] [1669017142.461443832]: Init Odometry with first valid pose data -> ENABLED [ INFO] [1669017142.466288096]: Two D mode -> DISABLED [ INFO] [1669017142.471765635]: MAPPING PARAMETERS [ INFO] [1669017142.476543598]: Mapping -> DISABLED [ INFO] [1669017142.484624794]: Clicked point topic -> /clicked_point [ INFO] [1669017142.484787121]: OBJECT DETECTION PARAMETERS [ INFO] [1669017142.489791535]: * Object Detection -> DISABLED [ INFO] [1669017142.489985283]: SENSORS PARAMETERS [ INFO] [1669017142.492106057]: Sensors timestamp sync -> DISABLED [ INFO] [1669017142.494527548]: Max sensors rate -> 200 [ INFO] [1669017142.494689331]: SVO PARAMETERS [ INFO] [1669017142.499066582]: SVO input file: -> [ INFO] [1669017142.501730203]: SVO REC compression -> H265 (HEVC) [ INFO] [1669017142.505962886]: COORDINATE FRAMES [ INFO] [1669017142.518087336]: map_frame -> map [ INFO] [1669017142.518278109]: odometry_frame -> odom [ INFO] [1669017142.518404630]: base_frame -> base_link [ INFO] [1669017142.518504624]: camera_frame -> zed2_camera_center [ INFO] [1669017142.518585675]: imu_link -> zed2_imu_link [ INFO] [1669017142.518670854]: left_camera_frame -> zed2_left_camera_frame [ INFO] [1669017142.518746690]: left_camera_optical_frame -> zed2_left_camera_optical_frame [ INFO] [1669017142.518837628]: right_camera_frame -> zed2_right_camera_frame [ INFO] [1669017142.518913400]: right_camera_optical_frame -> zed2_right_camera_optical_frame [ INFO] [1669017142.519033713]: depth_frame -> zed2_left_camera_frame [ INFO] [1669017142.519171593]: depth_optical_frame -> zed2_left_camera_optical_frame [ INFO] [1669017142.519282275]: disparity_frame -> zed2_left_camera_frame [ INFO] [1669017142.519361758]: disparity_optical_frame -> zed2_left_camera_optical_frame [ INFO] [1669017142.519466648]: confidence_frame -> zed2_left_camera_frame [ INFO] [1669017142.519550547]: confidence_optical_frame -> zed2_left_camera_optical_frame [ INFO] [1669017142.523868697]: Broadcast odometry TF -> ENABLED [ INFO] [1669017142.528477262]: Broadcast map pose TF -> ENABLED [ INFO] [1669017142.532770805]: Broadcast IMU pose TF -> ENABLED [ INFO] [1669017142.532948619]: DYNAMIC PARAMETERS (Init. values) [ INFO] [1669017142.535028819]: [DYN] Depth confidence -> 30 [ INFO] [1669017142.537601502]: [DYN] Depth texture conf. -> 100 [ INFO] [1669017142.540245093]: [DYN] pub_frame_rate -> 4 Hz [ INFO] [1669017142.542383241]: [DYN] point_cloud_freq -> 10 Hz [ INFO] [1669017142.544547531]: [DYN] brightness -> 4 [ INFO] [1669017142.546541688]: [DYN] contrast -> 4 [ INFO] [1669017142.548538756]: [DYN] hue -> 0 [ INFO] [1669017142.550460469]: [DYN] saturation -> 4 [ INFO] [1669017142.552365959]: [DYN] sharpness -> 4 [ INFO] [1669017142.554643843]: [DYN] gamma -> 8 [ INFO] [1669017142.556796422]: [DYN] auto_exposure_gain -> ENABLED [ INFO] [1669017142.562920451]: [DYN] auto_whitebalance -> ENABLED [ INFO] [1669017142.593000725]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD [ INFO] [1669017142.593530838]: *** Opening ZED 2... [ INFO] [1669017144.641070437]: ZED connection -> SUCCESS [ INFO] [1669017146.642627444]: ... ZED ready [ INFO] [1669017146.642892901]: ZED SDK running on GPU #0 [ INFO] [1669017146.652763728]: Camera-IMU Transform: 558E25B4B8 0.999986 0.005171 -0.000517 -0.002000 -0.005169 0.999980 0.003577 -0.023000 0.000535 -0.003575 0.999993 0.000220 0.000000 0.000000 0.000000 1.000000

[ INFO] [1669017146.657125911]: CAMERA MODEL -> ZED 2 [ INFO] [1669017146.657468419]: Serial Number -> 23644347 [ INFO] [1669017146.657628858]: Camera FW Version -> 1523 [ INFO] [1669017146.657744947]: Sensors FW Version -> 776 [ INFO] [1669017147.328764269]: Advertised on topic /zed2/zed_node/rgb/image_rect_color [ INFO] [1669017147.329262257]: Advertised on topic /zed2/zed_node/rgb/camera_info [ INFO] [1669017147.455784542]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_color [ INFO] [1669017147.455937942]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info [ INFO] [1669017147.571065261]: Advertised on topic /zed2/zed_node/left/image_rect_color [ INFO] [1669017147.571348061]: Advertised on topic /zed2/zed_node/left/camera_info [ INFO] [1669017147.691096109]: Advertised on topic /zed2/zed_node/left_raw/image_raw_color [ INFO] [1669017147.691262980]: Advertised on topic /zed2/zed_node/left_raw/camera_info [ INFO] [1669017147.808171542]: Advertised on topic /zed2/zed_node/right/image_rect_color [ INFO] [1669017147.808378570]: Advertised on topic /zed2/zed_node/right/camera_info [ INFO] [1669017147.925961078]: Advertised on topic /zed2/zed_node/right_raw/image_raw_color [ INFO] [1669017147.926123276]: Advertised on topic /zed2/zed_node/right_raw/camera_info [ INFO] [1669017148.045747755]: Advertised on topic /zed2/zed_node/rgb/image_rect_gray [ INFO] [1669017148.045934593]: Advertised on topic /zed2/zed_node/rgb/camera_info [ INFO] [1669017148.159975402]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_gray [ INFO] [1669017148.160187454]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info [ INFO] [1669017148.270460733]: Advertised on topic /zed2/zed_node/left/image_rect_gray [ INFO] [1669017148.270693392]: Advertised on topic /zed2/zed_node/left/camera_info [ INFO] [1669017148.383182162]: Advertised on topic /zed2/zed_node/left_raw/image_raw_gray [ INFO] [1669017148.383387558]: Advertised on topic /zed2/zed_node/left_raw/camera_info [ INFO] [1669017148.492395085]: Advertised on topic /zed2/zed_node/right/image_rect_gray [ INFO] [1669017148.492773400]: Advertised on topic /zed2/zed_node/right/camera_info [ INFO] [1669017148.607743660]: Advertised on topic /zed2/zed_node/right_raw/image_raw_gray [ INFO] [1669017148.608004094]: Advertised on topic /zed2/zed_node/right_raw/camera_info [ INFO] [1669017148.723705832]: Advertised on topic /zed2/zed_node/depth/depth_registered [ INFO] [1669017148.723939515]: Advertised on topic /zed2/zed_node/depth/camera_info [ INFO] [1669017148.835396215]: Advertised on topic /zed2/zed_node/stereo/image_rect_color [ INFO] [1669017148.946383534]: Advertised on topic /zed2/zed_node/stereo_raw/image_raw_color [ INFO] [1669017148.949969506]: Advertised on topic /zed2/zed_node/confidence/confidence_map [ INFO] [1669017148.953276166]: Advertised on topic /zed2/zed_node/disparity/disparity_image [ INFO] [1669017148.956502831]: Advertised on topic /zed2/zed_node/point_cloud/cloud_registered [ INFO] [1669017148.959939531]: Advertised on topic /zed2/zed_node/pose [ INFO] [1669017148.963246351]: Advertised on topic /zed2/zed_node/pose_with_covariance [ INFO] [1669017148.966489782]: Advertised on topic /zed2/zed_node/odom [ INFO] [1669017148.975859106]: Advertised on topic /zed2/zed_node/path_odom [ INFO] [1669017148.979364378]: Advertised on topic /zed2/zed_node/path_map [ INFO] [1669017148.983034313]: Advertised on topic /zed2/zed_node/imu/data [ INFO] [1669017148.986142777]: Advertised on topic /zed2/zed_node/imu/data_raw [ INFO] [1669017148.989677008]: Advertised on topic /zed2/zed_node/imu/mag [ INFO] [1669017148.993177128]: Advertised on topic /zed2/zed_node/temperature/imu [ INFO] [1669017148.996201660]: Advertised on topic /zed2/zed_node/atm_press [ INFO] [1669017148.999766642]: Advertised on topic /zed2/zed_node/temperature/left [ INFO] [1669017149.002614480]: Advertised on topic /zed2/zed_node/temperature/right [ INFO] [1669017149.006298847]: Advertised on topic /zed2/zed_node/left_cam_imu_transform [LATCHED] [ INFO] [1669017149.019261248]: Subscribed to topic /clicked_point [ INFO] [1669017149.060219181]: Starting Positional Tracking [ INFO] [1669017149.060464383]: Waiting for valid static transformations... [ INFO] [1669017149.060770030]: Published static transform 'zed2_imu_link' -> 'zed2_left_camera_frame' [ INFO] [1669017149.061073469]: Static transform Sensor to Base [zed2_left_camera_frame -> base_link] [ INFO] [1669017149.061404554]: Translation: {0.001,-0.060,-0.015} [ INFO] [1669017149.061536739]: Rotation: {0.000,-2.865,0.000} [ INFO] [1669017149.061730488]: Static transform Sensor to Camera Center [zed2_left_camera_frame -> zed2_camera_center] [ INFO] [1669017149.061866608]: Translation: {0.000,-0.060,0.000} [ INFO] [1669017149.061997992]: Rotation: {0.000,-0.000,0.000} [ INFO] [1669017149.062204413]: Static transform Camera Center to Base [zed2_camera_center -> base_link] [ INFO] [1669017149.062366196]: Translation: {0.001,0.000,-0.015} [ INFO] [1669017149.062526186]: Rotation: {0.000,-2.865,0.000} [ INFO] [1669017149.162967402]: Initial ZED left camera pose (ZED pos. tracking): [ INFO] [1669017149.163589543]: T: [-1.48803e-20,0.06,0.015] [ INFO] [1669017149.163953235]: * Q: [0,0.0249967,0,0.999687] [ WARN] [1669017149.164301535]: area_memory_db_path [/home/nx/.ros/zed_area_memory.area] doesn't exist or is unreachable. [ INFO] [1669017149.423211460]: Positional tracking -> Searching for a known position [SEARCHING] [ INFO] [1669017149.423898429]: Odometry aligned to last tracking pose [ INFO] [1669017149.459384097]: Positional tracking -> OK [OK]

Myzhar commented 1 year ago

Hi @ZhaoDidididi This is expected because the default value of the parameters video/img_downsample_factor and depth/depth_downsample_factor is set to 0.5 to reduce the communication bandwidth requirements.