Zed opencv issues with 'init' function and 'Eigen/Core' C++

[syamprasadkr]

I am trying to apply a simple color matching algorithm to the frames coming out of Zed, in C++. I tried the code with image input and it worked fine. Then I changed the source file to a frame from zed using the code:

VideoCapture cap(0);
    if(!cap.isOpened())
    {
        cout <<" Cannot obtain video"<< endl;
        return -1;
    }

    Mat src; 
    cap.read(src);
    imshow("Source", src);

The terminal threw the following output:

VIDIOC_QUERYMENU: Invalid argument
VIDIOC_QUERYMENU: Invalid argument
VIDIOC_QUERYMENU: Invalid argument

The source frame was completely green. I tried changing cap(0) to cap(-1) and cap (1). It didn't work. Then I decided to look into this. I decided to try the hello world program first. While running make, it gave me an error:

In file included from /home/ubuntu/opencv_ws/zed_test/src/zed_hello.cpp:4:0:
/usr/local/zed/include/zed/Camera.hpp:73:22: fatal error: Eigen/Core: No such file or directory
 #include <Eigen/Core>
                      ^
compilation terminated.
make[2]: *** [CMakeFiles/ZED_PROJECT.dir/src/zed_hello.o] Error 1
make[1]: *** [CMakeFiles/ZED_PROJECT.dir/all] Error 2
make: *** [all] Error 2

Then I edited the Camera.hpp with the following lines:

#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Eigen>

Also, I changed its file permissions. Now the error says:

In file included from /home/ubuntu/opencv_ws/zed_test/src/zed_hello.cpp:4:0:
/usr/local/zed/include/zed/Camera.hpp:174:21: note: sl::zed::ERRCODE sl::zed::Camera::init(sl::zed::InitParams&)
             ERRCODE init(InitParams &parameters);
                     ^
/usr/local/zed/include/zed/Camera.hpp:174:21: note:   candidate expects 1 argument, 3 provided
make[2]: *** [CMakeFiles/ZED_PROJECT.dir/src/zed_hello.o] Error 1
make[1]: *** [CMakeFiles/ZED_PROJECT.dir/all] Error 2
make: *** [all] Error 2

I tried changing the init statement in multiple ways: zed->init(sl::zed::MODE::QUALITY, 0,true); But it didn't fix the issue. Kindly help. Thanks in advance.

[obraun-sl]

Hi,

Since ZED SDK v1.0, the Init() function only takes a structure as parameter :

zed->init(sl::zed::MODE::QUALITY, 0,true);

becomes

sl::zed::InitParams param;
param.mode=QUALITY;
param.verbose=true;
param.device = 0;
zed->init(param);

Regarding Eigen error, it is better to call find_package(eigen3) in the cmakelist or to add /usr/include/eigen3 in the include_directories, instead of modifying the Camera.hpp.

Best, /0B/

[syamprasadkr]

@sl-braun Thank You so much. I would like to mention the small change: param.mode=sl::zed::MODE::QUALITY; Once again, thank you.