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Stereolabs ZED - OpenCV C++

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


  • Windows 7 64bits or later, Ubuntu 16.04 or 18.04
  • 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 cpp directory and execute the following command:

mkdir build
cd build
cmake ..

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'
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