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Stereolabs ZED - ArUco Multi ZED camera sample

This sample shows how calibrates multiples ZED camera using an ArUco marker.

http://chev.me/arucogen/

Point all the ZED cameras to this marker to start the sample. Once detected, the global reference frame is computed and all the ZED cameras position are estimated. The point cloud of every camera is then displayed in the same referential.

To reset the position, press the space bar and point the cameras to the marker.

Getting started

Prerequisites

  • Windows 7 64bits or later, Ubuntu 16.04 or later
  • ZED SDK and its dependencies (CUDA)

Build the program

Download the sample and follow the instructions below: More

Build for Windows

  • 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

Build for Linux

Open a terminal in the sample directory and execute the following command:

mkdir build
cd build
cmake ..
make

Run the program

  • Navigate to the build directory and launch the executable file

  • Or open a terminal in the build directory and run the sample :

      ./ZED_Multi_Reloc_Aruco

ArUco markers

This website can be used to easily display Aruco patterns.

The sample is expecting a 6x6 Aruco Dictionary with a 160mm marker by default. The bigger the marker, the better the camera position will be. It's important to make sure that the real-world size of the marker matches the size set in the samples (160mm) to avoid scale issues in the tracking.

ArUco detection

The Aruco detection code is taken from OpenCV Contrib module, please refer to the source files for the license information (BSD 3).