stereo labs ZED User manual
Getting Started
Contents
Getting Started with the ZED 2
Introduction....................................................... 2
What’sInTheBox? .................................................. 2
SystemRequirements................................................. 3
ZEDCameraSetup................................................... 4
Important Installation Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
InstallingtheZEDSDK–Windows ...................................... 4
InstallingtheZEDSDK–Linux ........................................ 5
GettingtoknowyourZEDCamera ......................................... 6
CameraCalibrationSettings.......................................... 6
Updating the firmware ............................................. 7
TestingtheZEDusingtheZEDExplorer ...................................... 8
VideoModes ................................................... 8
RecordingVideo................................................. 8
SavingStillImages................................................ 9
OtherTools ....................................................... 10
ZEDDepthViewer................................................ 10
ZEDSVOEditor ................................................. 12
Troubleshooting 13
GeneralMessages................................................ 13
CommonErrorMessages............................................ 13
Legal Terms 14
PRODUCT WARRANTY AND SOFTWARE LICENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
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Getting Started with the ZED
Introduction
Welcome to the ZED Camera Getting Started Guide.
Please read the following instructions carefully to make sure you get the best experience out of the ZED Camera.
This first part describes how to set up and use your ZED Camera for the first time. That includes:
• Installing the required runtime packages prior to installation.
• Installing the ZED drivers and software.
• Configuring your ZED Camera and loading calibration files.
• Testing the ZED Camera with the ZED Viewer
For further information about the ZED SDK and code structure please refer to the following section “Getting
Started with the ZED SDK” page 8.
What’s In The Box ?
Make sure your ZED package is complete when you open the box for the first time.
1. ZED Stereo Camera
2. USB Drive for Drivers and SDK
3. Mini Tripod Stand
The ZED Camera has an integrated 2.0m / 6.5 feet USB3.0 cable. On the provided ZED USB Drive you will find
the setup files for the ZED Camera and ZED SDK software. If you have lost the USB drive, you can find all the
necessary files in our developer zone at stereolabs.com. Feel free to check our website often since we release
updates on a regular basis.
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System Requirements
This section describes the minimum system requirements to use the ZED SDK, we recommend to use a high
performance hardware to ensure reliable computation time.
Operating Systems The ZED SDK 0.9.x currently supports Windows 7, 8 and 8.1 (64 bits) as well as Linux Ubuntu
14.04 and Linux4Tegra (Jetson OS).
Minimum System Requirements
In order to run the ZED SDK you need to have at least the following configuration:
• Dual-core 2,3GHz or faster processor
• 4 GB RAM or more
• NVIDIA GPU with Compute Capabilities > 2.0
• CUDA 6.5
• USB 3.0 port
• Windows 7, Windows 8, Windows 8.1 (64 bits), Ubuntu 14.04, L4T21.3/4
In order to take full advantage of the ZED SDK you need a modern and powerful NVIDIA GPU. We currently
support CUDA 6.5 and all the compute capabilities from 2.0 to 5.2. We will provide a newer version of the SDK as
soon as possible when the next version of CUDA is released.
Recommended configuration:
• Dual-core 2,5GHz processor or faster
• 4 GB of RAM
• NVidia GTX 560
• CUDA 6.5
• USB 3.0 port
• Windows 7, Windows 8, Windows 8.1 (64 bits), Ubuntu 14.04, L4T21.3/4
Additionally, if you plan to record high resolution footage –i.e 3840x1080 30fps – we recommend having a fast
SSD with transfer speeds easily reaching 250 MB/s. If you are recording on your OS disk, we strongly recommend
at least 256GB capacity. The videos are recorded with no compression to ensure the best quality in playback. An
available USB 3.0 port is mandatory.
If you don’t have an NVIDIA GPU – i.e: Intel HD Graphics or AMD chip - you can still use the tools such as the
ZED Explorer to view and record side by side 3D video but you will not be able to visualize depth or use any of the
samples. If you are looking for a portable workstation, the Nvidia GT 640M inside a PC Laptop provides minimal
graphics power to run the samples.
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ZED Camera Setup
Prior to launching the ZED SDK Setup wizard provided in the ZED USB drive, please make sure the following
installation prerequisites are installed.
Important Installation Prerequisites
Before you start developing applications with the ZED, make sure the following assets are installed.
• Latest USB 3.0 drivers.
• Latest NVIDIA Display Driver.
• NVIDIA CUDA 6.5 Toolkit.
• Visual Studio 2012 and 2013 Redistributable Packages
An up-to-date Nvidia GPU is required to use the samples and develop applications for the ZED.
Installing the ZED SDK – Windows
1. Plug your ZED into an USB 3.0 port and make sure the computer has an internet access.
2. Launch the installer ZED_SDK_WinSetup_vX.Y.exe which you will find in the ZED USB Drive and follow the
instructions.
3. Finish the setup procedure, unplug your ZED and restart your computer.
4.
If you have experienced an issue because your ZED wasn’t detected or internet access wasn’t found, please
refer to the Camera Calibration Settings section below.
Internet access is required since the installer will fetch your camera calibration file from our online database.
•
If you don’t have an internet access only during setup, your firewall blocks access or you experience an issue
during setup, please refer to the Camera Calibration Settings section below.
•
If you don’t have an internet access at all on your computer you can still use the ZED SDK but depth
measurement won’t be accurate.
!
Make sure you unplug your ZED
BEFORE
restarting your computer. On some computers, we have noticed that
USB 3.0 devices could prevent from rebooting.
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Installing the ZED SDK – Linux
Before you start developing applications with the ZED, download and install
CUDA 6.5 toolkit
. Compile and install
OpenCV 2.4.9 : This version can be downloaded here. Tutorial available here.
1. Plug your ZED into an USB 3.0 port and make sure the computer has an internet access.
2. In a terminal, launch the installer and follow the instructions :
• ex : user ubuntu1404:/path/to/sdk$./ZEDSDK-Linux-x86_64-vX.X.run_
Internet access is required since the installer will fetch your camera calibration file from our online database.
•
If you don’t have an internet access at all on your computer you can still use the ZED SDK but depth
measurement won’t be accurate.
•
The
SDK
will be installed in /usr/local/zed/, the installer shouldn’t be launched at root to avoid access right
issues on the installation folder (the “chown” or “chmod” command can resolve the problem if encountered)
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Getting to know your ZED Camera
The ZED Stereo Camera is a lightweight depth sensor based on passive stereovision. It outputs a high resolution
side-by-side video on USB 3.0 that contains two synchronized left and right video streams. Using the ZED SDK,
the graphics processing unit (GPU) from a host machine computes the depth map from the side-by-side video in
real-time (assuming you have a powerful GPU).
The ZED SDK provides three types of data:
• A side by side synchronized 3D RGB video stream (left stream+right stream)
• A depth map computed on the GPU from the video stream (and the disparity map)
• A confidence map which represents a score depicting the confidence of the measure.
The Status LED shows the stream state of the ZED. When the ZED camera streams images, the LED turns solid
blue.
Camera Calibration Settings
The ZED camera is factory calibrated, meaning you will not have to calibrate the camera each time you power it on.
Each ZED camera has its own calibration data enclosed in a calibration file. This file is fetched automatically from
our online database during the ZED SDK Setup. If you have experienced an issue during setup or you didn’t have
internet access during setup, please follow the following steps to manually fetch your specific calibration file from
our online database.
1. Ensure your computer is connected to the internet.
2. Plug your ZED into a USB 3.0 port
3.
Launch the
‘ZED Settings App’
and click on
‘Factory Reset’
, then
‘Save Configuration’
. The Settings App will
thus fetch your camera calibration file from our online database and load it into the software.
The ZED Settings App lets you control the calibration data for the ZED camera, you can view and tune various
calibration settings for each resolution.
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Updating the firmware
You can update the ZED Camera firmware in the ZED Explorer tool – with your ZED Camera plugged in - by clicking
on the Update button and selecting the latest firmware (it can be downloaded on our website, as a .bin file).
!DO NOT
unplug the ZED Camera while the firmware is being uploaded. Doing that can permanently damage your
ZED Camera
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Testing the ZED using the ZED Explorer
The ZED Explorer is an application for ZED video preview and recording. The application also lets you change video
resolution, aspect ratio and camera control parameters. It also allows you to capture full resolution snapshots and
video with the ZED.
Double click on the 3D image to toggle Full Sceen mode.
Video Modes
You can switch between four different video modes:
Video Mode Output Resolution (SBS) Framerate Field of View
2.2K 4416x1242 15fps Wide
1080p 3840x1080 30fps Wide
720p 2560x720 60fps Extra Wide
VGA 1280x480 100fps
Please note that the field of view is linked to the video mode.
Recording Video
The ZED Explorer records feeds in a Stereolabs SVO format that is compatible with the ZED SDK functions. With
SVO files, you can record stereo feeds from the ZED and compute later the depth map for these feeds using the
SDK. You can convert SVO files to Side by Side or 2D+Depth AVI files using the
SVO Decoder
Sample provided in
the SDK.
For further information on how to convert SVO files refer to the dedicated ZED SVO Decoder Sample section.
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Saving Still Images
You can save a Side by Side raw PNG image by clicking on the Save Image button.
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