Stereolabs ZED - PCL

This sample shows how to interface the ZED SDK and PCL (Point Cloud Library) to acquire and display a 3D point cloud from the ZED.

Getting started

• First, download the latest version of the ZED SDK on stereolabs.com.
• Make sure you have PCL installed with its visualization module.
• For more information, read the ZED API documentation.

Prerequisites

• Windows 7 64bits or later, Ubuntu 16.04
• ZED SDK and its dependencies (CUDA, OpenCV 3.1)

Build the program

Download the sample and follow these instructions:

Build for Windows

• Create a folder called "build" 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 the solution 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\ PCL [path to SVO file]
  

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

Features

The ZED SDK outputs a 4-channel float matrix containing the XYZRGB point cloud. This color point cloud is converted to PCL format and then displayed using PCLVisualizer.

Troubleshooting

• PCL view can be zoomed in at launch, displaying only green and red colors. To adjust the viewport, simply zoom out using your mouse wheel or keyboard shortcuts.

Limitations

• The point cloud conversion to PCL format is time consuming and will affect application running time.