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PyCuVSLAM with ZED Stereo Camera

In this folder, you will find two tutorials:

  1. live: Shows how to perform live PyCuVSLAM tracking using stereo images and depth data from a ZED stereo camera.
  2. recording: Shows how to perform ZED recording and later offline stereo tracking with rerun visualisation.

USB Camera Troubleshooting: occasionally, the USB camera may fail to start. If this occurs, briefly disconnect and reconnect it to the USB port

Set Up the PyCuVSLAM Environment

Refer to the Installation Guide for detailed environment setup instructions

ZED SDK Installation

ZED SDK 5.4.0 is recommended for the Python examples in this repository. The shared examples/requirements.txt pins numpy==2.2.4; the pyzed wheel shipped with ZED SDK 5.4 supports NumPy 2.x. Some older pyzed wheels, such as the one shipped with ZED SDK 4.1, require numpy<2.0, which conflicts with the shared example requirements and can break SciPy/Rerun imports.

ZED C++ SDK and tools

Follow the official installation documentation for Linux x86 or Jetpack.

During setup, it's recommended to skip the ZED Python API installation.

When prompted:

Do you want to install the Python API (recommended) [Y/n] ?

press n.

You can then manually install pyzed in your virtual environment. This avoids having potentially incompatible versions of cython and numpy installed globally for your user.

ZED Python SDK

Note: The official StereoLabs documentation Installing the Python API

Run get_python_api.py from the /usr/local/zed folder inside your Virtual environment. It will download pyzed*.whl and install it with pip for your active environment only.

pip install requests==2.32.5
python3 /usr/local/zed/get_python_api.py
pip install -r ../requirements.txt
pip check

Reinstalling ../requirements.txt after pyzed keeps the shared example versions pinned, and pip check verifies that the installed ZED Python API is compatible with those versions.