Stereolabs.Net - C#/.NET API

This package lets you use the ZED stereo camera in C#. The C# API is a wrapper around the ZED SDK which is written in C++ optimized code. We make the ZED SDK accessible from external C# code.

Getting started

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

Prerequisites

Windows 10 64bits or later
Visual Studio 2017 with C# extensions
Cmake 3.23 at least
C wrapper of the ZED SDK
ZED SDK 4.1.0 and its dependency (CUDA)

From NuGet

The C# API is available as a Nuget Package on Nuget.org.

Package	Description	Link
Stereolabs.zed	.NET Wrapper that imports the functions from the interface

Add the package to your Project

To add a NuGet pacakge to your project, please follow this documentation.

From Sources

It is also possible to build the wrapper from the sources. The C# wrapper made of two libraries :

The C# wrapper called Stereolabs.zed.dll. It defines all the functions of the ZED SDK in C#.
The C wrapper called zed-c-api. This native dll binds all the C# functions to the ZED SDK (written in C++). This wrapper is available here : https://github.com/stereolabs/zed-c-api

Build the C# wrapper

Open cmake-gui.
In “Where is the source code“, enter the path of the project folder where the CMakeLists.txt is located.
In “Where to build the binaries“, enter the previous path and add: /build.
Click on [Configure].
A dialog window asks you if CMake can create the “build” folder. Say yes.
Another dialog window will ask you to specify a generator for your project. Choose Visual Studio in Win64 and click on [Finish].
CMake may take a few seconds to configure the project.
Click on [Generate] to build the Visual Studio project files.
CMake has now generated your project in the build directory. You can directly open the solution by clicking on [Open Project] or by closing the cmake-gui window and opening the build folder.
A Visual Studio solution has been generated. Open Stereolabs.ZED.sln and set it in Release mode.

Build the C wrapper

The Csharp wrapper is using the C wrapper to interface with the ZED SDK. Therefore, you also need to build it following the same step as before.

Add the wrapper to your Project

Open yourproject in Visual studio
Right click on your project in the Solution Window and select Add -> Project Reference.
Click on Browse and select the Stereolabs.ZED.dll you just created before. Add it in your project.
For the moment you also need to manually copy the c wrapper (sl_zed_c.dll) at the same location, in yourproject.

Usage

Here is an example of the .NET API.

using System.Numerics;

namespace sl
{
    class Program
    {
        static void Main(string[] args)
        {
            // Create the camera
            Camera zedCamera = new Camera(0);
            // Create default configuration parameters
            InitParameters init_params = new InitParameters();
            ERROR_CODE err = zedCamera.Open(ref init_params);
            if (err != ERROR_CODE.SUCCESS)
                Environment.Exit(-1);

            // Get camera information (serial number)
            int zed_serial = zedCamera.GetZEDSerialNumber();
            Console.WriteLine("Hello! This is my serial number: " + zed_serial);
            Console.ReadLine();

            zedCamera.Close();
        }
    }
}

Support

If you need assistance go to our Community site at https://community.stereolabs.com/

stereolabs / zed-csharp-api