ZED Camera

Isaac SDK supports use of the ZED Camera. Use the procedures in this section to download and, in some cases, improve upon factory calibration of the camera.

Supported Firmware

Firmware version 1142 is supported and tested. Upgrade or downgrade the camera firmware to version 1142 with the ZED SDK tools.

Factory Calibration

  1. Connect the ZED camera to the host PC and install the ZED camera SDK from the following website: https://www.stereolabs.com/developers/release/.

  2. Every ZED camera is identified by a unique serial number and comes factory calibrated. Find the serial number on the ZED camera box, or run bazel run apps/samples/zed_camera to print the camera serial number to stdout and in the Sight application.

    The calibration file is necessary for ZED camera to work well. The name of the calibration file is SN<serial_number>.conf, where <serial_number> is the serial number of the camera.

  3. Download the factory calibration file for your ZED camera with the following command:

    bob@desktop:~/isaac$ engine/build/scripts/download_zed_calibration.sh -s <zed_camera_serial_number>
    
  4. Copy the downloaded file, SN<serial_number>.conf, to the NVIDIA device.

  5. Use the settings_folder_path parameter in the ZedCamera codelet to specify the path to the local directory containing the calibration settings file.

To Improve Camera Calibration

  1. Connect the ZED camera to the host PC and install the ZED camera SDK from the following website: https://www.stereolabs.com/developers/release/.
  2. Assuming you installed the ZED SDK in the default location (/usr/local/zed), start the calibration utility at /usr/local/zed/tools/ZED Calibration.
  3. Follow the on-screen instructions for performing the calibration. The calibration utility creates the calibration file SN<serial_number>.conf in /usr/local/zed/settings.
  4. Copy the file to the NVIDIA device.
  5. Use the settings_folder_path parameter in the ZedCamera codelet to specify the local folder path containing the calibration settings file.