# Zed Camera

## Zed Camera Installation

* CUDA device required (Jetson TX2, AGX Xavier, etc.)
* download [the latest SDK](https://www.stereolabs.com/developers/release/) and install
* git clone [zed-ros-wrapper](https://github.com/UCR-Robotics/zed-ros-wrapper) and catkin\_make

## Collect rosbag

```bash
roslaunch zed_wrapper zedm.launch
rosbag record \
    /tf \
    /tf_static \
    /zedm/zed_node/depth/camera_info \
    /zedm/zed_node/depth/depth_registered \
    /zedm/zed_node/imu/data \
    /zedm/zed_node/imu/data_raw \
    /zedm/zed_node/left/camera_info \
    /zedm/zed_node/left/image_rect_color \
    /zedm/zed_node/right/camera_info \
    /zedm/zed_node/right/image_rect_color \
    /zedm/zed_node/point_cloud/cloud_registered \
    /zedm/zed_node/pose \
    /zedm/zed_node/pose_with_covariance \
    /zedm/zed_node/odom \
    /zedm/zed_node/left_cam_imu_transform

roslaunch zed_wrapper zed2.launch
rosbag record \
    /tf \
    /tf_static \
    /zed2/zed_node/depth/camera_info \
    /zed2/zed_node/depth/depth_registered \
    /zed2/zed_node/imu/data \
    /zed2/zed_node/imu/data_raw \
    /zed2/zed_node/left/camera_info \
    /zed2/zed_node/left/image_rect_color \
    /zed2/zed_node/right/camera_info \
    /zed2/zed_node/right/image_rect_color \
    /zed2/zed_node/point_cloud/cloud_registered \
    /zed2/zed_node/pose \
    /zed2/zed_node/pose_with_covariance \
    /zed2/zed_node/odom \
    /zed2/zed_node/left_cam_imu_transform

```