Stereolabs ZED - Python API

This package lets you use the ZED stereo camera in Python 3.

Getting started

First, download the latest version of the ZED SDK on stereolabs.com
For more information, read the ZED API documentation

Prerequisites

ZED SDK 2.8 and its dependency CUDA
Python 3.5+ (x64). (Windows installer)
C++ compiler (VS2015 recommended)
Cython 0.26
Numpy 1.13.1

Please check your python version with the following command. The result should be 3.5 or higher.

python --version

Cython and Numpy can be installed via pip.

python -m pip install cython numpy

Note: On Linux, it is advised to use the python3 command instead of python which by default point to python 2.7. To do so, the following packages python3-dev and python3-pip need to be installed.

python3 --version
pip3 install -r requirements.txt

Installing the plugin using pip

Currently the package is built for Desktop for the latest ZED SDK 2.8, depending on your configuration (Python, CUDA or OS version), choose the relevant command :

Ubuntu 16 using the default Python 3.5 and CUDA 9

pip3 install https://download.stereolabs.com/whl/cu90/pyzed-2.8-cp35-cp35m-linux_x86_64.whl

Ubuntu 18 using the default Python 3.6 and CUDA 10

pip3 install https://download.stereolabs.com/whl/cu100/pyzed-2.8-cp36-cp36m-linux_x86_64.whl

Windows : Python 3.5, 3.6 and 3.7 are available. For instance Python 3.7, CUDA 10 :

python.exe -m pip install https://download.stereolabs.com/whl/cu100/pyzed-2.8-cp37-cp37m-win_amd64.whl

Build the plugin from source

python setup.py build
python setup.py install

or on Linux

python3 setup.py build
python3 setup.py install

If an error occurs during the compilation, make sure that you're using the latest ZED SDK and that you installed an x64 version of python. python -c "import platform; print(platform.architecture())"

The packages .pyd for Windows or .so for Linux will be generated and installed.

You can use python setup.py cleanall to remove every cpp files generated and build directory.

Make sure to be out of the plugin directory when using it. It will prevent Python from considering the pyzed folder of the plugin as the pyzed package.

When using Anaconda, make sure the package binary can be found. In the project folder, after compiling the wrapper run :

conda develop build/lib.linux-x86_64-3.6 # or 3.5 depending on the python version used

Use the plugin

Code

Import the packages in your Python terminal or file like this:

import pyzed.sl as sl

Vectors operations like norm, sum, square, dot, cross, distance but also simple operations can be done with Numpy package.

Run the tutorials

The tutorials provide simple projects to show how to use each module of the ZED SDK. For a similar version using the C++ API checkout the Cpp tutorials.

Run the examples

Please refer to the examples README for more informations.

Generate the API documentation

The documentation is provided in the doc folder and has to be built first.

Sphinx is used to generates the html documentation.

The zed-python-api has to be compiled and installed
Make sure sphinx and sphinx_rtd_theme are installed

    cd doc
    pip3 install -r requirements.txt

Generate the documentation by running the provided Makefile (Linux) or make.bat (Windows)

    make html

The documentation can be viewed in a browser by opening the generated index.html file located in doc/build/html/

Stable API notice

The ZED Python API is now stable but has some breaking changes from the previous (beta) version. The older beta version can be found in the legacy branch.

The changes were made to better reflect the C++ API and ease of use. Mainly all classes have a similar name to the C++ SDK (without the "Py" prefix), and all components were migrated to a unified sl namespace.

Contributing

Feel free to open an issue if you find a bug, or a pull request for bug fixes, features or other improvements.

ar1kumar / zed-python-api