ZED SDK interface sample for PCL, the Point Cloud Library
Switch branches/tags
Clone or download
Latest commit 3db8809 Sep 21, 2018
Failed to load latest commit information.
src Update license Sep 21, 2018
CMakeLists.txt Update for 2.4.0 Apr 24, 2018
LICENSE Update license Sep 21, 2018
README.md Update for ZED SDK 2.2 Nov 3, 2017


Stereolabs ZED - PCL

This sample shows how to acquire and display a 3D point cloud with PCL (Point Cloud Library).

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.


  • Windows 7 64bits or later, Ubuntu 16.04
  • ZED SDK 2.1 and its dependency (CUDA)

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 ..

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)


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


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