双目测距 ZED OpenCV

# Stereolabs ZED - OpenCV 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 - First, download the latest version of the ZED SDK on [stereolabs.com](https://www.stereolabs.com). - For more information, read the ZED [API documentation](https://www.stereolabs.com/developers/documentation/API/). ### Prerequisites - Windows 7 64bits or later, Ubuntu 16.04 - [ZED SDK](https://www.stereolabs.com/developers/) and its dependencies ([CUDA](https://developer.nvidia.com/cuda-downloads), [OpenCV](https://github.com/opencv/opencv/releases)) ## Build the program #### 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 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\ 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'