ZED SDK interface sample with PCL, the Point Cloud Library
C++ CMake
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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.


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)


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.


  • 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.


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