zed-opencv
This sample is designed to work with the ZED stereo camera only and requires the ZED SDK. For more information: https://www.stereolabs.com
It demonstrates how to grab images and disparity map with the ZED SDK and link the results with OpenCV.
Warning :
- GPU->CPU readback is time-consuming
- This sample is not designed to operate in real time
Both images and depth/disparity map are displayed.
Most of the functions of the ZED SDK are linked with a key press event (using OpenCV).
Build the program
Open a terminal in With OpenCV directory and execute the following command:
$ mkdir build
$ cd build
$ cmake ..
$ make
Run the program
Open a terminal in build directory and execute the following command:
$ ./ZED\ with\ OpenCV [path to SVO file]
Keyboard shortcuts
| Display hotkeys | Description | Hotkeys | Description |
|---|---|---|---|
| '0' | Left image | 'a' | Re-compute stereo alignment |
| '1' | Right image | 'w' | Save side by side images into a png file |
| '2' | Left gray rectified image | 'v' | Save the disparity map in a png file |
| '3' | Right gray rectified image | 'r' | Sensing mode STANDARD |
| '4' | Left raw image | 'f' | Sensing mode FILL |
| '5' | Right raw image | 'd' | Toggle disparity / depth map display |
| '6' | Left gray raw image | 'g' | Increase camera exposure |
| '7' | Right gray raw image | 'h' | Decrease camera exposure |
| '8' | Anaglyph view | 'b' | Increase disparity map confidence threshold |
| '9' | Difference view | 'n' | Decrease disparity map confidence threshold |
| 's' | Left and Right image side by side | 'q' | Quit the sample |
| 'o' | Overlay view | - | - |
| 'c' | Display depth map confidence | - | - |