Tool for capturing IMU sensor and video data through zed-open-capture library (Zed 2, Zed, Zed mini).
Install basic bulid tools if you don't have them yet:
sudo apt install build-essential cmake
Install dependencies:
sudo apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev opencv-dev
Optional:
If you wish to record pose, you need to install Zed SDK.
You need to install udev rule to be able to use the device:
cd zed-open-capture/udev && bash install_udev_rule.sh && cd ../..
Create a build directory:
mkdir target && cd target
Build:
cmake .. && make -j$(nproc) or if you don't have Zed SDK: cmake -DUSE_ZED_SDK=OFF .. && make -j$(nproc)
Create output dir:
mkdir output
Run tool with resolution and framerates as arguments. Wait until you get "Recording..." message, it will take a while to initialize and sync IMU/Video with zed_capture. Recording won't start until they are within 500ms and will halt if they dritft over 500ms afterwards. zed_pose_capture captures pose in addition to IMU and camera, but requires the Zed SDK and CUDA compatible hardware.
./zed_capture 720 30 or ./zed_pose_capture 720 30
Supported resolution and framerate combinations:
- 2K: 2208 * 1242, available framerates: 15 fps.
- 1080: 1920 * 1080, available framerates: 15, 30 fps.
- 720: 1280 * 720, available framerates: 15, 30, 60 fps.
- VGA: 672 * 376, available framerates: 15, 30, 60, 100 fps.
This code is licensed under the Apache-2.0 License.