Currently I am attempting to feed an image coming from the Zed camera into the isaac.perception.AprilTagsDetection component. I have verified the functinality of April tag detection of tags with V4L2 prior to swithcing to the Zed image feed.
The issue I am running into is a discrepancy in the zed camera. in the documentation and in the carter example to connect the output of zed to april tags, the isaac.ZedCamera outputs the following:
left_camera_rgb : left rgb image and camera intrinsics
right_camera_rgb : right rgb image and camera intrinsics
left_camera_gray : left gray image and camera intrinsics
right_camera_gray : right gray rgb image and camera intrinsics
extrinsics [Pose3dProto]: camera pair extrinsics (right-to-left)
In the sample for the Zed camera, the camera is actually outputing these protos (also verified in sight):
left_rgb (proto unknown, I’m assuming ColorCameraProto)
left_thumbnail (proto unknown, I’m assuming ColorCameraProto)
right_thumbnail (proto unknown, I’m assuming ColorCameraProto)
going further, I tried to use the proto names from the documentation (left_camera_rgb and right_camera_rgb) and there is no data stream (verified in sight).
to bypas this i attempted to feed the isaac.perception.AprilTagsDetection component with the image stream left_rgb that i was able to view from the zed in sight, but the same april tage i verified with V4L2 prior to the test are not recognized. This leads me to beleive that left_rgb is not a ColorCameraProto.
so I have a few questions:
Has anyone read april tags with the zed camera feed? If so, how did you set up you app?
where do I find the component that producuces the tx proto steams as described in the documentation? I have looked through the entire file system and everything leds me back to //packages/zed but isaac::zed doesnt seem to be using this package because this package transmits left_camera_rgb and right_camera_rgb and currently isaac::zed is transmitting left_rgb, left_thumbnail, right_thumbnail in my samples/zed
where am I getting this zed component that is producing these strange tx’s?
What package is isaac:zed referencing?
Thank you for the help in advance!