zed-code

ZED Stereo Camera Code

This code is based on the ZED C++ SDK and does not use ROS, which is why its in a different repo than ImmersiveInterface2. To integrate it into ISAACS ROS will need to be used with the ZED Camera. Luckily, the the ZED ROS wrapper exists and will need to be used.

3D Mapping Planning Doc: https://docs.google.com/document/d/1UF9w5l6qaanxyj5wSWAWRYyflIOXF0gGdvBvm6EOkEA/edit?usp=sharing

zed

1. zed/Spatial Mapping/src/main.cpp initiates ZED's mapping module to process an incoming camera stream over a local network and perform 3D reconstruction, with live visualization. Run by compiling, and then in the build folder run ./SpatialMapping <host_ip> <port>

   Compile on Linux by:

   • mkdir build
   • cd build
   • cmake ..
   • make

   Compile on Windows by:

   • 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

local network streaming

1. streaming/Streaming_Sender/src/main.cpp sends ZED 2 camera stream over a local network. Run by compiling it, and then in the build folder run ./ZED_Streaming_Sender <port>

Compile on Linux by:

- mkdir build
- cd build
- cmake ..
- make