Under Ubuntu16.04 binocular stereo cameras for ZED SLAM (track generation to the camera and three-dimensional reconstruction Example)

The entire process has been tested. You need to have:

1.     A computer installed Ubuntu16.04
2.     A camera ZED
3.     A little knowledge of Linux command line

(My test machine is dell-Precision-5820-Tower)

step:

1.     安装CUDA（Compute Unified Device Architecture）
2.     ZED SDK installation
3.     Test Camera

 
1、

Search CUDA official website, install CUDA:

According to the computer I use, selection as follows ( how to determine the architecture? )

Download the file above. Open a terminal, enter the file directory, followed by entering the following command:

sudo dpkg -i cuda-repo-ubuntu1604_10.1.105-1_amd64.deb

sudo apt-key adv --fetch-keys http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64/7fa2af80.pub

sudo apt-get update

sudo apt-get install cuda

If the second command error:

Copy the URL inside, open, download.

Open the terminal to enter the file containing the downloaded file, enter

sudo apt-key 刚才下载的pub文件

Optimistic, just enter the name of the downloaded file, it can not be directly copied.

Re-enter the rest of the command. When prompted, enter, wait just fine.

2、

Enter the site https://www.stereolabs.com/developers/release/

download

    ZED SDK for Ubuntu 16 v2.7

After the download is complete, open a terminal and enter the file directory

     chmod +x ZED_SDK_Ubuntu16_v2.7.1.run
     ./ZED_SDK_Ubuntu16_v2.7.1.run

Wait for the installation was successful.

Restart the computer.

3、

Plug zed camera to the computer, pay attention to the interface of USB3.0.

After a successful installation, the software will usr / local / zed folder /.

Open a terminal:

cd /usr/local/zed/sample/positional tracking

Compile

        mkdir build
        cd build
        cmake ..
        make

At this generates an executable file ZED_Positional_Tracking.

We execute this file:

./ZED_Positional_Tracking

Then open a window, we pick up the camera, rotate the camera, the camera will see the trajectory generation:

Re-test a three-dimensional reconstruction, the camera revolution around the room:

Other features, such as a point cloud generating the depth map, SVO, are similar, the README file folder zed package written in great detail, can take explore ~

 

---

Finally, let me say that I feel zed, and this camera a lot of advantages, high accuracy trajectory generation, within one centimeter of the action, can be very accurate trajectory drawn out, ranging data accurate and stable, high quality point cloud, and more the important point, it is very light, only a USB interface, by contrast, Kinect camera is a bit bulky.

更多信息请参考：

https://www.stereolabs.com/docs/getting-started/installation/

https://github.com/stereolabs/zed-examples