ZEDmini使用

ZED stereolabs 开箱测评 + 使用说明

ubuntu18.04+nvidia+cuda10

ubuntu18.04+ZED SDK安装和使用

Ubuntu16.04安装NVIDIA显卡驱动

查看显卡信息

redwall@redwall-G3-3500:~/catkin_ws$ lspci | grep VGA
00:02.0 VGA compatible controller: Intel Corporation Device 9bc4 (rev 05)
01:00.0 VGA compatible controller: NVIDIA Corporation Device 2191 (rev a1)

搜索 ，可以看到是1660Ti

下载对应的显卡驱动

https://www.nvidia.cn/Download/index.aspx?lang=cn#

💡 装的时候关闭secure boot，其它按照博客中的指导即可

Ubuntu 16.04 禁用 Secure boot 问题

装的时候可能会报错

Unable to find a suitable destination to install 32-bit compatibility libraries. Your system may not be set up for 32-bit compatibility. 32-bit compatibility files will not be installed; if you wish to install them, re-run the installation and set a valid directory with the --compat32-libdir option.

博客四中说不影响并给出了解决方法，所以这里暂时忽略了该问题

1660Ti一般安装10.0版本的CUDA

https://cn.bing.com/search?q=1660Ti装什么版本的cuda&form=CHRDEF&sp=-1&pq=1660ti装什么版本的cuda&sc=0-16&qs=n&sk=&cvid=BC2FD4F64E314DF4BF317DDAF8DEC08D&ghsh=0&ghacc=0&ghpl=

下载安装对应版本及补丁

https://developer.nvidia.com/cuda-10.0-download-archive?target_os=Linux&target_arch=x86_64&target_distro=Ubuntu&target_version=1804&target_type=runfilelocal

ZED SDK安装完成后运行示例程序报错

redwall@redwall-G3-3500:/usr/local/zed/samples/spatial mapping/advanced point cloud mapping/cpp/bin$ ./ZED_Point_Cloud_Mapping 
ERROR: while compiling Shader :
0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.00 ES, 3.00 ES, 3.10 ES, and 3.20 ESERROR: while compiling vertex shader
ERROR: while compiling Shader :
0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.00 ES, 3.00 ES, 3.10 ES, and 3.20 ES

网上查说是OpenGL版本的问题，第一篇博客中也提到了OpenGL版本问题，暂时不影响使用，后面视情况解决

error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.00 ES, and 3.00 ES and Unsupported gpu architecture ‘compute_20’

严格按照Readme.md安装zed-ros-wrapper

git clone的时候一定要加--recursive

rosdep install --from-paths src --ignore-src -r -y的时候可能会出现下面的问题

https://github.com/stereolabs/zed-ros-wrapper/issues/761

按装[zed-ros-examples](https://github.com/stereolabs/zed-ros-examples/tree/master/zed_display_rviz) 后运行

roslaunch zed_display_rviz display_zedm.launch

效果如下