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‎README.md

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---
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:tada: The **ZED SDK 4.0** is released! We support the [**ZED X**](https://www.stereolabs.com/zed-x/) and [**ZED X Mini**](https://www.stereolabs.com/zed-x/) cameras, added the **Fusion API** for multi-camera Body Tracking, and more! Please check the [Release Notes](https://www.stereolabs.com/developers/release/) of the latest version for more details.
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:tada: The **ZED SDK 4.1** is released! We support the [**ZED X**](https://www.stereolabs.com/zed-x/) and [**ZED X Mini**](https://www.stereolabs.com/zed-x/) cameras, added the **Fusion API** for multi-camera Body Tracking, and more! Please check the [Release Notes](https://www.stereolabs.com/developers/release/) of the latest version for more details.
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## Overview
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Depth Sensing | Object Detection | Body Tracking |
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:------------: | :----------: | :-------------: |
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[![Depth Sensing](https://user-images.githubusercontent.com/32394882/230639409-356b8dfa-df66-4bc2-84d8-a25fd0229779.gif)](https://www.stereolabs.com/docs/depth-sensing) | [![Object Detection](https://user-images.githubusercontent.com/32394882/230630901-9d53502a-f3f9-45b6-bf57-027148bb18ad.gif)](https://www.stereolabs.com/docs/object-detection) | [![Body Tracking](https://user-images.githubusercontent.com/32394882/230631989-24dd2b58-2c85-451b-a4ed-558d74d1b922.gif)](https://www.stereolabs.com/docs/body-tracking) |
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Positional Tracking | Geo Tracking | Spatial Mapping |
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Positional Tracking | Global Localization | Spatial Mapping |
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:------------: | :----------: | :-------------: |
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[![Positional Tracking](https://user-images.githubusercontent.com/32394882/229093429-a445e8ae-7109-4995-bc1d-6a27a61bdb60.gif)](https://www.stereolabs.com/docs/positional-tracking/) | [![GeoTracking](https://user-images.githubusercontent.com/32394882/230602944-ed61e6dd-e485-4911-8a4c-d6c9e4fab0fd.gif)](/geotracking) | [![Spatial Mapping](https://user-images.githubusercontent.com/32394882/229099549-63ca7832-b7a2-42eb-9971-c1635d205b0c.gif)](https://www.stereolabs.com/docs/spatial-mapping) |
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[![Positional Tracking](https://user-images.githubusercontent.com/32394882/229093429-a445e8ae-7109-4995-bc1d-6a27a61bdb60.gif)](https://www.stereolabs.com/docs/positional-tracking/) | [![Global Localization](https://user-images.githubusercontent.com/32394882/230602944-ed61e6dd-e485-4911-8a4c-d6c9e4fab0fd.gif)](/global%20localization) | [![Spatial Mapping](https://user-images.githubusercontent.com/32394882/229099549-63ca7832-b7a2-42eb-9971-c1635d205b0c.gif)](https://www.stereolabs.com/docs/spatial-mapping) |
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Camera Control | Plane Detection | Multi Camera Fusion |
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:------------: | :----------: | :-------------: |
@@ -83,7 +83,7 @@ This repository contains ready-to-use and samples to start using the ZED SDK wit
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* [**Positional Tracking**](/positional%20tracking) - This sample shows how to use **positional tracking** and display the result with *OpenGL*.
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* [**GeoTracking**](/geotracking) - This sample shows how to fuse the ZED SDK's **positional tracking with GNSS data** for global positioning.
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* [**Global Localization**](/global%20localization) - This sample shows how to fuse the ZED SDK's **positional tracking with GNSS data** for global positioning.
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* [**Spatial Mapping**](/spatial%20mapping) - This sample shows how to capture **3D meshes** with the ZED and display it with *OpenGL*. Classic Mesh and Point Cloud fusion are available.
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| <div align="center"><a href="https://www.stereolabs.com/docs/pytorch"><img src="https://user-images.githubusercontent.com/32394882/229475918-1add790d-b10e-4529-a1d7-097f015a481f.png" width="70%" alt="" /></a></div> | <div align="center"><a href="https://www.stereolabs.com/docs/yolo/"><img src="https://user-images.githubusercontent.com/32394882/230623781-3c87a5c9-b6af-4f93-bcc7-5ec381acf5d7.png" width="70%" alt="" /></a></div> | <div align="center"><a href="https://www.stereolabs.com/docs/matlab/"><img src="https://user-images.githubusercontent.com/32394882/229472074-4747f789-4ce6-4aef-b4f7-eab3bb77ab52.png" width="70%" alt="" /></a></div> | <div align="center"><a href="https://www.stereolabs.com/"><img src="https://user-images.githubusercontent.com/32394882/229472012-fe8d4458-219b-4825-8e87-9a3e9bc55e62.png" width="70%" alt="" /></a></div> | <div align="center"><a href="https://derivative.ca/UserGuide/ZED"><img src="https://user-images.githubusercontent.com/32394882/230623653-630e7bd2-1300-47ad-8133-39543470b2b1.png" width="70%" alt="" /></a></div>
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## ZED Hub
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Experience ZED like never before with [ZED Hub](https://hub.stereolabs.com), Stereolabs' IoT platform allowing **easy management of camera fleets** and **data aggregation**, fully managed on the cloud. Unlike competitors, ZED Hub offers **plug-and-play** functionality and dedicated features for your applications developed with the ZED SDK. ZED Hub simplifies the **integration of 3D perception**, offering **remote access** and **monitoring** to your cameras . Start for **Free** now!
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<br />
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<div align="center">
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<img src="https://cdn2.stereolabs.com/assets/images/zed-hub/zed-hub-workflow.png" width="60%"/>
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</div>
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<br />
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## Community

‎body tracking/body tracking/cpp/include/GLViewer.hpp

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Shader() {
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}
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Shader(GLchar* vs, GLchar* fs);
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Shader(const GLchar* vs, const GLchar* fs);
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~Shader();
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GLuint getProgramId();
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static const GLint ATTRIB_VERTICES_POS = 0;
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static const GLint ATTRIB_COLOR_POS = 1;
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static const GLint ATTRIB_NORMAL = 2;
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private:
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bool compile(GLuint &shaderId, GLenum type, GLchar* src);
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bool compile(GLuint &shaderId, GLenum type, const GLchar* src);
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GLuint verterxId_;
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GLuint fragmentId_;
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GLuint programId_;

‎body tracking/body tracking/cpp/src/GLViewer.cpp

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#error "This sample should not be built in Debug mode, use RelWithDebInfo if you want to do step by step."
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#endif
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GLchar* VERTEX_SHADER =
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const GLchar* VERTEX_SHADER =
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"#version 330 core\n"
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"layout(location = 0) in vec3 in_Vertex;\n"
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"layout(location = 1) in vec4 in_Color;\n"
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" gl_Position = u_mvpMatrix * vec4(in_Vertex, 1);\n"
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"}";
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GLchar* FRAGMENT_SHADER =
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const GLchar* FRAGMENT_SHADER =
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"#version 330 core\n"
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"in vec4 b_color;\n"
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"layout(location = 0) out vec4 out_Color;\n"
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"void main() {\n"
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" out_Color = b_color;\n"
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"}";
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GLchar* SK_VERTEX_SHADER =
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const GLchar* SK_VERTEX_SHADER =
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GLchar* SK_FRAGMENT_SHADER =
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const GLchar* SK_FRAGMENT_SHADER =
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"#version 330 core\n"
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Shader::Shader(GLchar* vs, GLchar* fs) {
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Shader::Shader(const GLchar* vs, const GLchar* fs) {
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bool Shader::compile(GLuint &shaderId, GLenum type, GLchar* src) {
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bool Shader::compile(GLuint &shaderId, GLenum type, const GLchar* src) {
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‎body tracking/body tracking/cpp/src/main.cpp

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///////////////////////////////////////////////////////////////////////////
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//
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// Copyright (c) 2023, STEREOLABS.
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// Copyright (c) 2024, STEREOLABS.
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//
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// All rights reserved.
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//
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Camera zed;
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InitParameters init_parameters;
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init_parameters.camera_resolution = RESOLUTION::AUTO;
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init_parameters.depth_mode = DEPTH_MODE::ULTRA;
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init_parameters.depth_mode = isJetson ? DEPTH_MODE::PERFORMANCE : DEPTH_MODE::ULTRA;
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//init_parameters.depth_mode = DEPTH_MODE::ULTRA;
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parseArgs(argc, argv, init_parameters);
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// Enable the Body tracking module
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BodyTrackingParameters body_tracker_params;
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body_tracker_params.enable_body_fitting = true; // smooth skeletons moves
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body_tracker_params.enable_body_fitting = false; // smooth skeletons moves
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body_tracker_params.body_format = sl::BODY_FORMAT::BODY_34;
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body_tracker_parameters_rt.detection_confidence_threshold = 40;
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}

‎body tracking/body tracking/csharp/MainWindow.cs

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///////////////////////////////////////////////////////////////////////////
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//
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// Copyright (c) 2023, STEREOLABS.
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// Copyright (c) 2024, STEREOLABS.
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//
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// All rights reserved.
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//

‎body tracking/body tracking/csharp/Properties/AssemblyInfo.cs

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[assembly: AssemblyConfiguration("")]
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[assembly: AssemblyCompany("")]
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[assembly: AssemblyProduct("Tutorials")]
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[assembly: AssemblyCopyright("Copyright © 2021")]
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[assembly: AssemblyCopyright("Copyright © 2024")]
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[assembly: AssemblyTrademark("")]
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[assembly: AssemblyCulture("")]
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‎body tracking/export/JSON export/cpp/include/GLViewer.hpp

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Shader() {
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Shader(GLchar* vs, GLchar* fs);
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Shader(const GLchar* vs, const GLchar* fs);
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~Shader();
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GLuint getProgramId();
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static const GLint ATTRIB_VERTICES_POS = 0;
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static const GLint ATTRIB_COLOR_POS = 1;
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static const GLint ATTRIB_NORMAL = 2;
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bool compile(GLuint &shaderId, GLenum type, GLchar* src);
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bool compile(GLuint &shaderId, GLenum type, const GLchar* src);
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‎body tracking/export/JSON export/cpp/src/GLViewer.cpp

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#error "This sample should not be built in Debug mode, use RelWithDebInfo if you want to do step by step."
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GLchar* VERTEX_SHADER =
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const GLchar* VERTEX_SHADER =
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" gl_Position = u_mvpMatrix * vec4(in_Vertex, 1);\n"
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"}";
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GLchar* FRAGMENT_SHADER =
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const GLchar* FRAGMENT_SHADER =
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"#version 330 core\n"
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"layout(location = 0) out vec4 out_Color;\n"
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" out_Color = b_color;\n"
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"}";
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GLchar* SK_VERTEX_SHADER =
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const GLchar* SK_VERTEX_SHADER =
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GLchar* SK_FRAGMENT_SHADER =
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const GLchar* SK_FRAGMENT_SHADER =
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"#version 330 core\n"
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Shader::Shader(GLchar* vs, GLchar* fs) {
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Shader::Shader(const GLchar* vs, const GLchar* fs) {
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bool Shader::compile(GLuint &shaderId, GLenum type, GLchar* src) {
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bool Shader::compile(GLuint &shaderId, GLenum type, const GLchar* src) {
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‎body tracking/export/JSON export/cpp/src/main.cpp

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///////////////////////////////////////////////////////////////////////////
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//
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// Copyright (c) 2023, STEREOLABS.
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// Copyright (c) 2024, STEREOLABS.
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//
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// All rights reserved.
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//

‎body tracking/export/fbx export/cpp/include/utils.hpp

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///////////////////////////////////////////////////////////////////////////
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// Copyright (c) 2023, STEREOLABS.
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// Copyright (c) 2024, STEREOLABS.
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//
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// All rights reserved.
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//

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