Awesome

Zed Capture

Tool for capturing IMU sensor and video data through zed-open-capture library (Zed 2, Zed, Zed mini).

Dependencies

Install basic bulid tools if you don't have them yet:

sudo apt install build-essential cmake

Install dependencies:

sudo apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev opencv-dev

Optional:

If you wish to record pose, you need to install Zed SDK.

Setup

You need to install udev rule to be able to use the device:

cd zed-open-capture/udev && bash install_udev_rule.sh && cd ../..

Build

Create a build directory:

mkdir target && cd target

Build:

cmake .. && make -j$(nproc) or if you don't have Zed SDK: cmake -DUSE_ZED_SDK=OFF .. && make -j$(nproc)

Running

Create output dir:

mkdir output

Run tool with resolution and framerates as arguments. Wait until you get "Recording..." message, it will take a while to initialize and sync IMU/Video with zed_capture. Recording won't start until they are within 500ms and will halt if they dritft over 500ms afterwards. zed_pose_capture captures pose in addition to IMU and camera, but requires the Zed SDK and CUDA compatible hardware.

./zed_capture 720 30 or ./zed_pose_capture 720 30

Supported resolution and framerate combinations:

• 2K: 2208 * 1242, available framerates: 15 fps.
• 1080: 1920 * 1080, available framerates: 15, 30 fps.
• 720: 1280 * 720, available framerates: 15, 30, 60 fps.
• VGA: 672 * 376, available framerates: 15, 30, 60, 100 fps.

License

This code is licensed under the Apache-2.0 License.