Merge fix

Author: Myzhar

CHANGELOG.rst

@@ -1,6 +1,11 @@
 LATEST CHANGES
 ==============
 
+2023-01-24
+----------
+- The parameter `general.sdk_verbose` has been moved to `debug.sdk_verbose` and set to `0` as default.
+- Add new parameter `general.optional_opencv_calibration_file` to use custom OpenCV camera calibrations.
+
 2023-12-21
 ----------
 - Add [new tutorial](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_robot_integration) to illustrate how to integrate one or more ZED cameras on a robot

zed_components/src/zed_camera/include/zed_camera_component.hpp

@@ -273,6 +273,7 @@ class ZedCamera : public rclcpp::Node
   bool mSvoRealtime = false;
   int mVerbose = 1;
   int mGpuId = -1;
+  std::string mOpencvCalibFile;
   sl::RESOLUTION mCamResol = sl::RESOLUTION::HD1080;  // Default resolution: RESOLUTION_HD1080
   PubRes mPubResolution = PubRes::NATIVE;   // Use native grab resolution by default
   double mCustomDownscaleFactor = 1.0; // Used to rescale data with user factor

zed_components/src/zed_camera/src/zed_camera_component.cpp

@@ -494,6 +494,8 @@ void ZedCamera::getDebugParams()
 
   RCLCPP_INFO(get_logger(), "*** DEBUG parameters ***");
 
+  getParam("debug.sdk_verbose", mVerbose, mVerbose, " * SDK Verbose: ");
+
   getParam("debug.debug_common", mDebugCommon, mDebugCommon);
   RCLCPP_INFO(get_logger(), " * Debug Common: %s", mDebugCommon ? "TRUE" : "FALSE");
 
@@ -658,7 +660,6 @@ void ZedCamera::getGeneralParams()
   }
   RCLCPP_INFO_STREAM(get_logger(), " * Camera model: " << camera_model << " - " << mCamUserModel);
 
-  getParam("general.sdk_verbose", mVerbose, mVerbose, " * SDK Verbose: ");
   getParam("general.camera_name", mCameraName, mCameraName, " * Camera name: ");
   getParam("general.serial_number", mCamSerialNumber, mCamSerialNumber, " * Camera SN: ");
   getParam(
@@ -744,6 +745,10 @@ void ZedCamera::getGeneralParams()
     mCustomDownscaleFactor = 1.0;
   }
 
+  getParam(
+    "general.optional_opencv_calibration_file", mOpencvCalibFile, mOpencvCalibFile,
+    " * OpenCV custom calibration: ");
+
   std::string parsed_str = getParam("general.region_of_interest", mRoiParam);
   RCLCPP_INFO_STREAM(get_logger(), " * Region of interest: " << parsed_str.c_str());
 
@@ -3512,6 +3517,10 @@ bool ZedCamera::startCamera()
   mInitParams.depth_minimum_distance = mCamMinDepth;
   mInitParams.depth_maximum_distance = mCamMaxDepth;
 
+  if (!mOpencvCalibFile.empty()) {
+    mInitParams.optional_opencv_calibration_file = mOpencvCalibFile.c_str();
+  }
+
   mInitParams.camera_disable_self_calib = !mCameraSelfCalib;
   mInitParams.enable_image_enhancement = true;
   mInitParams.enable_right_side_measure = false;
@@ -3540,6 +3549,20 @@ bool ZedCamera::startCamera()
       break;
     }
 
+    if (mConnStatus == sl::ERROR_CODE::INVALID_CALIBRATION_FILE) {
+      if (mOpencvCalibFile.empty()) {
+        RCLCPP_ERROR_STREAM(get_logger(), "Calibration file error: " << sl::toVerbose(mConnStatus));
+      } else {
+        RCLCPP_ERROR(get_logger(), "Custom OpenCV calibration file error.");
+        RCLCPP_ERROR_STREAM(
+          get_logger(),
+          "Please check the correctness of the path of the calibration file in the parameter 'general.optional_opencv_calibration_file': '" <<
+            mOpencvCalibFile << "'.");
+        RCLCPP_ERROR(get_logger(), "If the file exists, it may contain invalid information.");
+      }
+      return false;
+    }
+
     if (mSvoMode) {
       RCLCPP_WARN(get_logger(), "Error opening SVO: %s", sl::toString(mConnStatus).c_str());
       return false;

zed_wrapper/config/common.yaml

@@ -1,12 +1,11 @@
 # config/common_yaml
 # Common parameters to Stereolabs ZED and ZED mini cameras
-#
-# Note: the parameter svo_file is passed as exe argumet
+
 ---
 /**:
     ros__parameters:
 
-        use_sim_time: false # Set to `true` only if there is a publisher for the simulated clock to the `/clock` topic
+        use_sim_time: false # Set to `true` only if there is a publisher for the simulated clock to the `/clock` topic. Normally used in simulation mode.
 
         simulation:
             sim_enabled: false # Set to `true` to enable the simulation mode and connect to a simulation server
@@ -25,11 +24,11 @@
             pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
             pub_frame_rate: 15.0 # frequency of publishing of visual images and depth images
             gpu_id: -1
+            optional_opencv_calibration_file: '' # Optional path where the ZED SDK can find a file containing the calibration information of the camera computed by OpenCV. Read the ZED SDK documentation for more information: https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#a9eab2753374ef3baec1d31960859ba19 
             region_of_interest: '[]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
             #region_of_interest: '[[0.25,0.33],[0.75,0.33],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
             #region_of_interest: '[[0.25,0.25],[0.75,0.25],[0.75,0.75],[0.25,0.75]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
             #region_of_interest: '[[0.5,0.25],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
-            sdk_verbose: 1
 
         video:
             brightness: 4 # [DYNAMIC] Not available for ZED X/ZED X Mini
@@ -169,6 +168,7 @@
             thread_pointcloud_priority: 60 # ONLY with 'SCHED_FIFO' and 'SCHED_RR' - [1 (LOW) z-> 99 (HIGH)] - NOTE: 'sudo' required
 
         debug:
+            sdk_verbose: 0 # Set the verbose level of the ZED SDK 
             debug_common: false
             debug_sim: false
             debug_video_depth: false