# ZED SDK - Depth Sensing

This sample shows how to retreive the current point cloud.

## Getting Started

 - Get the latest [ZED SDK](https://www.stereolabs.com/developers/release/) and [pyZED Package](https://www.stereolabs.com/docs/app-development/python/install/)
 - Check the [Documentation](https://www.stereolabs.com/docs/)

## Setting up (Optional)

For improved data retrieval and handling on GPU:
 - Install CuPy using pip
    ```sh
    pip install cupy-cuda11x  # For CUDA 11.x
    pip install cupy-cuda12x  # For CUDA 12.x
    ```
 - Install cuda bindings using pip
    ```sh
    pip install cuda-python
    ```

## Run the program

To run the program, use the following command in your terminal : 
```bash
python depth_sensing.py
```
If you wish to run the program from an input_svo_file, or an IP adress, or specify a resolution run : 

```bash
python depth_sensing.py --input_svo_file <input_svo_file> --ip_address <ip_address> --resolution <resolution> 
```
Arguments: 
  - `--input_svo_file` A path to an existing .svo file, that will be playbacked. If this parameter and ip_adress are not specified, the soft will use the camera wired as default.
  - `--ip_address` IP Address, in format a.b.c.d:port or a.b.c.d. If specified, the soft will try to connect to the IP.
  - `--resolution` Resolution, can be either HD2K, HD1200, HD1080, HD720, SVGA or VGA.
  - `--disable_gpu` Disable GPU acceleration even if CuPy is available.

### Features
 - Camera live point cloud is retreived
 - An OpenGL windows displays it in 3D

## Support

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