# ZED Open Capture API

The ZED Open Capture library allows the low level control of ZED, ZED Mini and ZED 2 camera. The library provides methods to access raw video frames, to control the video parameters and to acquire raw data from the internal sensors (only ZED Mini, ZED2, and ZED2i). A synchronization mechanism is provided to get the correct sensor data associated to each video frame.

**Note:** The provided data are not calibrated, images are not rectified in a stereoscopic way, IMU data may drift or be misaligned.
Calibration data can be accessed using the [ZED SDK](https://www.stereolabs.com/developers/release/).

## Coordinates system

The coordinate system is only used for sensors data (especially for IMU). The given IMU data are expressed in the RAW/IMU coordinate system as show below

![](https://raw.githubusercontent.com/stereolabs/zed-open-capture/master/images/imu_axis.jpg)

## Installation

### Prerequisites

 * A Stereolabs camera: [ZED](https://www.stereolabs.com/zed/), [ZED Mini](https://www.stereolabs.com/zed-mini/), [ZED2](https://www.stereolabs.com/zed-2/), [ZED2i](https://www.stereolabs.com/zed-2i/)
 * Linux OS [Tested on Ubuntu 16.04, 18.04 and 20.04]
 * GCC compiler [at least v7.5]
 * CMake build system [at least v3.1] 
 * HIDAPI and LIBUSB Libraries for USB communication
 * OpenCV [at least v3.4. Required only by examples]
 * git [if installing from source]

#### Install prerequisites

* Install GCC compiler and build tools

    `$ sudo apt install build-essential`

* Install CMake build system

    `$ sudo apt install cmake`

* Install HIDAPI and LIBUSB libraries:

    `$ sudo apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev`

* Install OpenCV to compile the examples

    `$ sudo apt install opencv-dev`

### Install the udev rule 
To be able to access the USB you must install the udev rule contained in the `udev` folder:

    $ cd udev
    $ bash install_udev_rule.sh
    $ cd ..
    $ udevadm trigger

### Clone the repository
    
    $ git clone https://github.com/stereolabs/zed-open-capture.git
    $ cd zed-open-capture

### Compile

#### Compile library and examples

    $ mkdir build
    $ cd build
    $ cmake ..
    $ make -j$(nproc)

#### Compile only the library

    $ mkdir build
    $ cd build
    $ cmake .. -DBUILD_EXAMPLES=OFF 
    $ make -j$(nproc)

#### Compile only the video library with the video examples

    $ mkdir build
    $ cd build
    $ cmake .. -DBUILD_SENSORS=OFF
    $ make -j$(nproc)

#### Compile only the video library

    $ mkdir build
    $ cd build
    $ cmake .. -DBUILD_SENSORS=OFF -DBUILD_EXAMPLES=OFF
    $ make -j$(nproc)

#### Compile only the sensors library with the sensors example
    
    $ mkdir build
    $ cd build
    $ cmake .. -DBUILD_VIDEO=OFF
    $ make -j$(nproc)

#### Compile only the sensors library
    
    $ mkdir build
    $ cd build
    $ cmake .. -DBUILD_VIDEO=OFF -DBUILD_EXAMPLES=OFF
    $ make -j$(nproc)
    
### Install

After compiling it is possible to install the library and the examples.
From inside the `build` folder:

    $ sudo make install
    $ sudo ldconfig

## Local documentation

Documentation can be locally generated in HTML format using Doxygen:

    $ sudo apt-get install -y doxygen # if not previously installed
    $ cd doc
    $ ./generate_doc.sh
    
The local documentation will be available opening the file `doc/html/index.html` with a standard web browser.