cpp

Stereolabs ZED - OpenCV

This sample is the perfect place to get started coding with the ZED and OpenCV. It shows how to:

• Capture image, depth and point cloud from the ZED.
• Convert image and depth map to compatible 32-bits float OpenCV matrix.
• Display video and depth with OpenCV.
• Adjust several depth parameters: depth sensing mode, quality, units, resolution.
• Save side by side image, depth image and point cloud in various formats

Getting started

• First, download the latest version of the ZED SDK on stereolabs.com.
• For more information, read the ZED API documentation.

Prerequisites

• Windows 10, Ubuntu LTS
• ZED SDK and its dependencies (CUDA, OpenCV)

Build the program

Download the sample and follow the instructions below: More

Build for Windows

• Create a "build" folder in the source folder
• Open cmake-gui and select the source and build folders
• Generate the Visual Studio Win64 solution
• Open the resulting solution and change configuration to Release
• Build solution

Build for Linux

Open a terminal in the sample directory and execute the following command:

mkdir build
cd build
cmake ..
make

Run the program

• Navigate to the build directory and launch the executable file

• Or open a terminal in the build directory and run the sample :

    ./ZED\ with\ OpenCV [path to SVO file]
  

You can optionally provide an SVO file path (recorded stereo video of the ZED).

Keyboard shortcuts

This table lists keyboard shortcuts that you can use in the sample application.

Parameter	Description	Hotkey
Save Side by Side	Save side by side image.	's'
Save Depth	Save depth image.	'p'
Save Point Cloud	Save 3D point cloud.	'd'
Switch cloud format	Toggle between point cloud formats.	'm'
Switch depth format	Toggle between depth image formats.	'n'
Exit	Quit the application.	'q'