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<p><span data-ke-size="size23"><b>ZED SDK 설치</b></span></p><p> </p><p>1. jetson board에 접속하여서 firefox에 zed sdk 다운로드 페이지에 들어가서 자신에 jetpack 버전에 맞게 설치한다.</p><p> </p><p>2. 다운로드 할 경로를 들어간다.</p><p> </p><p>3. <span style="color: #37474f; background-color: #fafafa;" data-ke-size="size16">$ chmod +x ZED_SDK_Tegra_L4T35.3_v4.0.0.zstd.run  (-->자신이 설치한 파일이름에 맞게 변경)</span></p><p> </p><p><span style="color: #37474f; background-color: #fafafa;" data-ke-size="size16">4.  $sudo apt install zstd</span></p><p> </p><p><span style="color: #37474f; background-color: #fafafa;" data-ke-size="size16">5. <span style="color: #37474f; background-color: #fafafa;" data-ke-size="size16">$ ./ZED_SDK_Tegra_L4T35.3_v4.0.0.zstd.run  (-->자신이 설치한 파일이름에 맞게 변경)</span></span></p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/3d865414aafb6bf8b638d81c2b89bcf00609207b" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/3d865414aafb6bf8b638d81c2b89bcf00609207b" data-origin-width="1043" data-origin-height="252"></div><p>6.  질문에 모두 Y 입력</p><p> </p><p>7. 설치경로</p><div class="figure-img" data-ke-type="image" data-ke-style="alignLeft" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/f461b47f1bb09488ce180c4bf48db8deff197858" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/f461b47f1bb09488ce180c4bf48db8deff197858" data-origin-width="388" data-origin-height="21"></div><p> </p><p style="text-align: start;"><b>참고한 사이트</b></p><p style="text-align: start;"> </p><p style="text-align: start;"><a style="color: #0070d1;" href="https://www.stereolabs.com/docs/installation/jetson" target="_top" class="ke-link">How to Install ZED SDK on NVIDIA® Jetson - Stereolabs</a></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="How to Install ZED SDK on NVIDIA® Jetson - Stereolabs" data-og-description="To use Stereolabs’ cameras on NVIDIA® Jetson platforms, you need to:" data-og-host="www.stereolabs.com" data-og-source-url="https://www.stereolabs.com/docs/installation/jetson" data-og-url="https://www.stereolabs.com/docs/installation/jetson" data-og-image="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png"><a href="https://www.stereolabs.com/docs/installation/jetson" target="_blank" data-source-url="https://www.stereolabs.com/docs/installation/jetson"><div class="og-image"><img src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">How to Install ZED SDK on NVIDIA® Jetson - Stereolabs</p><p class="og-desc">To use Stereolabs’ cameras on NVIDIA® Jetson platforms, you need to:</p><p class="og-host">www.stereolabs.com</p></div></a></div><p> </p><p> </p><p><span data-ke-size="size23"><b>zed camera 실행 예제</b></span></p><p> </p><p>1. windows xserver 실행</p><p> </p><p>2. export DISPLAY=192.168.0.18:0.0 (=windows ip적어주기 on linux)</p><p> </p><p>3.  $ cd /usr/local/zed/tools</p><p> </p><p>4. 실행파일 확인</p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/5d09e95350fbe4b141993011f9b11420fa9f1700" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/5d09e95350fbe4b141993011f9b11420fa9f1700" data-origin-width="850" data-origin-height="63"></div><p>5.</p><div class="figure-img" data-ke-type="image" data-ke-style="alignLeft" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/bc97c576c7b8e39bbac622c5eebd6437aa982c1f" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/bc97c576c7b8e39bbac622c5eebd6437aa982c1f" data-origin-width="470" data-origin-height="28"></div><p> </p><p> </p><p> </p><p><span data-ke-size="size23"><b>ZED SDK Tutorial </b></span></p><p> </p><p>1. cmake 설치 (= 미리 설치했으면 넘어가도됨)</p><p> </p><p>$ sudo apt-get install build-essential cmake</p><p> </p><p>2. zed sdk 설치경로로 cd (나의 경우 /usr/local/zed/samples에 있었음)</p><p> </p><p>$ cd /usr/local/zed/samples/tutorials</p><p> </p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/f3c586ab8671a8576c0c3e461501971330d43bb3" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/f3c586ab8671a8576c0c3e461501971330d43bb3" data-origin-width="941" data-origin-height="93"></div><p> </p><p>3.  빌드</p><p> </p><p>$ cd 'tutorial 2 - image capture'</p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/2632a946d2d1a9a0de96c13e2849c823d5f23f30" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/2632a946d2d1a9a0de96c13e2849c823d5f23f30" data-origin-width="730" data-origin-height="56"></div><p>$ cd cpp</p><p>$ mkdir build <br>$ cd build <br>$ cmake .. <br>$ make</p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/32942166a6944afde00c2fcc121d60c7a9f1f24b" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/32942166a6944afde00c2fcc121d60c7a9f1f24b" data-origin-width="787" data-origin-height="37"><div class="figcaption">실행파일 확인</div></div><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/73b824eae0c41bbf174596c6de12bab3db8c1cb0" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/73b824eae0c41bbf174596c6de12bab3db8c1cb0" data-origin-width="1001" data-origin-height="381"><div class="figcaption">실행결과 확인</div></div><p> </p><p> </p><p> </p><p><span data-ke-size="size23"><b>zed gstreamer</b></span></p><p> </p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/3083a070e4245ceef9dffbe4814e94059118064a" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/3083a070e4245ceef9dffbe4814e94059118064a" data-origin-width="894" data-origin-height="898"><div class="figcaption">위에 사진대로 설치해줘야 zed gstreamer 사용가능</div></div><p> </p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/53b16bddbcd9b87131436966f88ac5d49caec78c" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/53b16bddbcd9b87131436966f88ac5d49caec78c" data-origin-width="1099" data-origin-height="361"><div class="figcaption">gstreamer error</div></div><p>1. xserver 실행 (=windows)</p><p> </p><p> </p><p>2. export DISPLAY=192.168.0.18:0.0</p><p> </p><p> </p><p>$ gst-launch-1.0 zedsrc ! videoconvert ! autovideosink</p><p> </p><p> </p><p>$ gst-launch-1.0 zedsrc ! videoconvert ! fpsdisplaysink</p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/03f504b25a5e99b7ea06b1870b84cf6f96857585" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/03f504b25a5e99b7ea06b1870b84cf6f96857585" data-origin-width="1280" data-origin-height="752"></div><p> </p><p> </p><p> </p><p> </p><p> </p><p><span data-ke-size="size20"><b>xserver를 사용하지 않고 linux서버에서 windows 서버로 영상 송수신</b></span></p><p> </p><p><b># linux (jetson board)</b></p><p><span data-ke-size="size16">$ gst-launch-1.0 zedsrc ! videoconvert ! x264enc tune=zerolatency bitrate=5000 speed-preset=superfast ! rtph264pay config-interval=1 pt=96 ! udpsink host=192.168.0.18 port=5001  # (ip와 포트번호는 자신이 보낼위치의 ip를 적어주면됨)</span></p><p> </p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/035246fcccfec26b476bb76f46426274f19e0fa7" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/035246fcccfec26b476bb76f46426274f19e0fa7" data-origin-width="1101" data-origin-height="262"></div><p> </p><p><b><span data-ke-size="size16"># windows </span></b></p><p><span data-ke-size="size16">$ gst-launch-1.0 udpsrc port=5001 caps="application/x-rtp, media=video, clock-rate=90000, encoding-name=H264, payload=96" ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink   # (수신기와 동일한 포트번호 적어주기)</span></p><p> </p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/b8ff857483b8d451d54d928d898863174a1d1067" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/b8ff857483b8d451d54d928d898863174a1d1067" data-origin-width="1105" data-origin-height="542"></div><p> </p><p> </p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/dccb6aaa50d805b5d26e012b88e7a1b514c9b88c" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/dccb6aaa50d805b5d26e012b88e7a1b514c9b88c" data-origin-width="1281" data-origin-height="748"><div class="figcaption">실행화면</div></div><p> </p><p><span data-ke-size="size23"><b>Streaming Programing</b></span></p><p> </p><p>ZED camera로 opencv를 사용해서 영상을 스트리밍 해보고 싶었는데 ZED camera는 videocapture 기능을 지원하지 않는다고한다. 그래서 고유의 예제를 가져와서 분석해서 써야할거같다.</p><p> </p><p><a href="https://github.com/stereolabs/zed-opencv" target="_blank" class="ke-link">https://github.com/stereolabs/zed-opencv</a></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="GitHub - stereolabs/zed-opencv: ZED SDK interface sample for OpenCV" data-og-description="ZED SDK interface sample for OpenCV. Contribute to stereolabs/zed-opencv development by creating an account on GitHub." data-og-host="github.com" data-og-source-url="https://github.com/stereolabs/zed-opencv" data-og-url="https://github.com/stereolabs/zed-opencv" data-og-image="https://scrap.kakaocdn.net/dn/zG45o/hyWGX5ChX0/d1N7kMvdkOykd38iisyweK/img.png?width=1200&height=600&face=0_0_1200_600"><a href="https://github.com/stereolabs/zed-opencv" target="_blank" data-source-url="https://github.com/stereolabs/zed-opencv"><div class="og-image"><img src="https://scrap.kakaocdn.net/dn/zG45o/hyWGX5ChX0/d1N7kMvdkOykd38iisyweK/img.png?width=1200&height=600&face=0_0_1200_600" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">GitHub - stereolabs/zed-opencv: ZED SDK interface sample for OpenCV</p><p class="og-desc">ZED SDK interface sample for OpenCV. Contribute to stereolabs/zed-opencv development by creating an account on GitHub.</p><p class="og-host">github.com</p></div></a></div><p> </p><p>$  git clone <a href="https://github.com/stereolabs/zed-opencv" target="_blank" class="ke-link">https://github.com/stereolabs/zed-opencv</a></p><p> </p><p>$  cd ~/zed-opencv/cpp</p><p> </p><p>$  mkdir build && cd build</p><p> </p><p>$ cmake ..</p><p> </p><p>$ make</p><p> </p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/a54601fffcec7619f4c319aea7cf3e3b11225477" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/a54601fffcec7619f4c319aea7cf3e3b11225477" data-origin-width="606" data-origin-height="37"><div class="figcaption">실행파일 생긴거 확인</div></div><p>$ ./ZED_with_OpenCV</p><p> </p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1ZcrJ/da25961bcd22efa47063fa0f9b101953dbf61b3f" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1ZcrJ/da25961bcd22efa47063fa0f9b101953dbf61b3f" data-origin-width="1904" data-origin-height="566"><div class="figcaption">image와 Depth 영상이 뜸</div></div><p> </p><p># 주의할 점!!</p><p> </p><p>zed 카메라는 카메라가 놓여진 전방 방향 기준으로 왼쪽 카메라에만 depth 영상을 지원함 그래서 원본과 매칭 시키려면</p><p>왼쪽 카메라 영상을 사용하는것이 좋음</p>
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설치 및 오류해결
ZED SDK 설치 및 예제 실행
정다훈
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24.07.25 14:32
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