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
Build the program
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 pics and pcd | Save left/right pics and pointcloud. | 's' |
Switch cloud format | Toggle between point cloud formats. | 'm' |
Exit | Quit the application. | 'q' |