# ZED Playground

This repo provides a Docker Compose setup and Dev Container config based on
`stereolabs/zed:5.1-gl-devel-cuda12.8-ubuntu24.04`.

## Prerequisites

- Docker + Docker Compose v2
- NVIDIA Container Toolkit (GPU support)
- ZED camera connected via USB (optional)

If you use GUI apps inside the container, you need X11 access from the host.

## Quick Start (Docker Compose)

1) Allow local X11 access for root:

```bash
xhost +local:root
```

2) Start the container:

```bash
docker compose up
```

3) Open a shell in the running container:

```bash
docker compose exec zed bash
```

## Dev Container (VS Code / compatible)

1) Open this folder in a Dev Container-capable editor.
2) It will use `.devcontainer/devcontainer.json` and `docker-compose.yml`.

## Notes

- If you are on Wayland, X11 forwarding may require XWayland. If GUI apps do
  not appear, log into an X11 session or enable XWayland.
- USB devices are passed through via `/dev/bus/usb` and the container runs
  `privileged` for camera access.
- The workspace is mounted at `/workspaces/zed-playground`.

## Udev Rules (Host)

Udev controls device permissions and power settings on the host. If ZED sensors
fail to initialize inside the container, the host likely does not allow
non-root access to the camera MCU/IMU or has USB autosuspend enabled.

This repo provides two options:
- `misc/99-slabs.rules`: a ready-to-use rule file that grants access to ZED
  USB/HID devices and disables autosuspend for known ZED USB IDs.
- `misc/udev_fix.sh`: downloads the official `99-slabs.rules`, installs it to
  `/etc/udev/rules.d/`, and reloads udev.

Run the script on the host (not in the container), then unplug/replug the
camera so the new rules take effect.
- `/usr/local/zed/samples` has ZED SDK sample applications.

See [adujardin/setup_zed_udev-rules.sh](https://gist.github.com/adujardin/2d5ce8f000fc6a7bd40bee2709749ff8/) from stereolabs community.

- [ZED camera does not open in docker container as a non-root user](https://community.stereolabs.com/t/zed-camera-does-not-open-in-docker-container-as-a-non-root-user/2259/4)
- [CAMERA NOT DETECTED in WSL2 Ubuntu 22.04](https://community.stereolabs.com/t/camera-not-detected-in-wsl2-ubuntu-22-04/3477/5)

## Calibration Download

If automatic calibration download fails, grab it manually:

```
http://calib.stereolabs.com/?SN=<ZED_SN>
```

`<ZED_SN>` is the decimal serial number without the `SN` prefix.

Place the downloaded `SN<XXXX>.conf` in the default settings path:
- Linux: `/usr/local/zed/settings/`
- Windows: `C:/ProgramData/stereolabs/settings`

If you pass a custom settings path in your app, the SDK will try that first and
fall back to the default path if the file is not found.

## See also

- [How to Install ZED SDK with Docker on Linux](https://www.stereolabs.com/docs/docker/install-guide-linux)