### Compile and Run Sample Application

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/README.md

Compiles a sample mono application using CMake after the library has been built and installed. It then runs the compiled sample application.

```bash
cd ../sample_mono/
mkdir build; cd build; cmake ..
make
./argus_camera
```

--------------------------------

### CMake Project Setup and Dependencies

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/sample_mono/CMakeLists.txt

Configures the CMake project, finds OpenCV, and sets up include and link directories. It also checks for the Tegra Multimedia API and includes its headers and libraries if found.

```cmake
cmake_minimum_required(VERSION 3.5)
project(argus_camera)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

find_package(OpenCV REQUIRED)
include_directories(${OPENCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})

set(TegraMM_ROOT /usr/src/jetson_multimedia_api)
set(TegraMM_FOUND FALSE)

if(EXISTS ${TegraMM_ROOT})
  # set packages
  set(TegraMM_INCLUDE_DIRS ${TegraMM_ROOT}/include ${TegraMM_ROOT}/include/libjpeg-8b /usr/include/libdrm)
  set(TegraMM_LIBRARY_DIRS /usr/lib/aarch64-linux-gnu/tegra /usr/lib/aarch64-linux-gnu)
  set(TegraMM_LIBRARIES nvargus_socketclient nvjpeg drm nvbufsurftransform nvbufsurface nvosd EGL v4l2 GLESv2 X11 pthread vulkan)
  file(GLOB TegraMM_COMMON_SOURCES ${TegraMM_ROOT}/samples/common/classes/*.cpp)
  include_directories(${TegraMM_INCLUDE_DIRS})
  link_directories(${TegraMM_LIBRARY_DIRS})
  set(TegraMM_FOUND TRUE)
endif()
```

--------------------------------

### Clone and Build ZED X One Capture Library

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/README.md

Clones the repository, builds the C++ library using CMake, installs it, and updates the dynamic linker cache. This is a prerequisite for using the camera control API.

```bash
git clone https://github.com/stereolabs/zedx-one-capture.git
cd zedx-one-capture/lib
mkdir build; cd build; cmake ..
make
sudo make install
sudo ldconfig
```

--------------------------------

### CMake Project Setup and Dependencies

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/sample/CMakeLists.txt

Configures the CMake project, finds OpenCV, and sets up include and link directories. It also checks for the Tegra Multimedia API and includes its headers and libraries if found.

```cmake
cmake_minimum_required(VERSION 3.5)
project(argus_camera)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

find_package(OpenCV REQUIRED)
include_directories(${OPENCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})

set(TegraMM_ROOT /usr/src/jetson_multimedia_api)
set(TegraMM_FOUND FALSE)

if(EXISTS ${TegraMM_ROOT})
  # set packages
  set(TegraMM_INCLUDE_DIRS ${TegraMM_ROOT}/include ${TegraMM_ROOT}/include/libjpeg-8b /usr/include/libdrm)
  set(TegraMM_LIBRARY_DIRS /usr/lib/aarch64-linux-gnu/tegra /usr/lib/aarch64-linux-gnu)
  set(TegraMM_LIBRARIES nvargus_socketclient nvjpeg drm nvbufsurftransform nvbufsurface nvosd EGL v4l2 GLESv2 X11 pthread vulkan)
  file(GLOB TegraMM_COMMON_SOURCES ${TegraMM_ROOT}/samples/common/classes/*.cpp)
  include_directories(${TegraMM_INCLUDE_DIRS})
  link_directories(${TegraMM_LIBRARY_DIRS})
  set(TegraMM_FOUND TRUE)
endif()
```

--------------------------------

### Library Creation and Installation

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/lib/CMakeLists.txt

Defines the shared library for the project, links necessary Tegra Multimedia API libraries, and specifies installation paths for headers and the library itself.

```cmake
### Add sources for library
add_library(${PROJECT_NAME} SHARED ${ARGUS_CAPTURE_SRC} ${ARGUS_CAPTURE_HDR} ${TegraMM_COMMON_SOURCES})
### Link library with deps
target_link_directories(${PROJECT_NAME} PUBLIC
  ${TegraMM_LIBRARY_DIRS} 
  ${TegraMM_LIBRARY_DIRS_CROSSCPL}
)
target_link_libraries(${PROJECT_NAME} ${SPECIAL_OS_LIBS})

set(ARGUSCAPTURE_PUBLIC_INCLUDE_FILES "include/ArgusCapture.hpp")
SET(ARGUS_CAPTURE_LIB_DIR /usr/local/lib)
SET(ARGUS_CAPTURE_INC_DIR /usr/local/include)

set_target_properties(${PROJECT_NAME}
    PROPERTIES
    PUBLIC_HEADER "${ARGUSCAPTURE_PUBLIC_INCLUDE_FILES}"
)

install(TARGETS ${PROJECT_NAME}
  RUNTIME DESTINATION ${ARGUS_CAPTURE_LIB_DIR}
  LIBRARY DESTINATION ${ARGUS_CAPTURE_LIB_DIR}
  PUBLIC_HEADER DESTINATION ${ARGUS_CAPTURE_INC_DIR})
```

--------------------------------

### CMake Project Setup and Dependencies

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/stereo_calibration/CMakeLists.txt

Configures the CMake build system for the zedx_one_stereo_calibration project. It sets the minimum CMake version, project name, enables export of compile commands, and finds/links the OpenCV library. It also conditionally sets up paths and libraries for the Tegra Multimedia API if available.

```cmake
cmake_minimum_required(VERSION 3.5)
project(zedx_one_stereo_calibration)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

find_package(OpenCV REQUIRED)
include_directories(${OPENCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})

set(TegraMM_ROOT /usr/src/jetson_multimedia_api)
set(TegraMM_FOUND FALSE)

if(EXISTS ${TegraMM_ROOT})
  # set packages
  set(TegraMM_INCLUDE_DIRS ${TegraMM_ROOT}/include ${TegraMM_ROOT}/include/libjpeg-8b /usr/include/libdrm)
  set(TegraMM_LIBRARY_DIRS /usr/lib/aarch64-linux-gnu/tegra /usr/lib/aarch64-linux-gnu)
  set(TegraMM_LIBRARIES nvargus_socketclient nvjpeg drm nvbufsurftransform nvbufsurface nvosd EGL v4l2 GLESv2 X11 pthread vulkan)
  file(GLOB TegraMM_COMMON_SOURCES ${TegraMM_ROOT}/samples/common/classes/*.cpp)
  include_directories(${TegraMM_INCLUDE_DIRS})
  link_directories(${TegraMM_LIBRARY_DIRS})
  set(TegraMM_FOUND TRUE)
endif()

add_definitions(-std=c++17 -O3)
IF (BUILD_WITH_DEBUGINFOS)
    message("!! Building with -g !!")
    add_definitions(-g)
    set(ARGUS_LIB arguscaptured)
ELSE()
    set(ARGUS_LIB arguscapture)
ENDIF()

include_directories(include/)

add_executable(zedx_one_stereo_calibration main.cpp)
target_link_libraries(zedx_one_stereo_calibration ${ARGUS_LIB} pthread ${OpenCV_LIBRARIES} ${TegraMM_LIBRARIES})
```

--------------------------------

### CMake Project Setup and TegraMM Integration

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/lib/CMakeLists.txt

Configures the CMake project, sets C++ standards, and finds the Tegra Multimedia API. It includes platform-specific library paths and dependencies for ARM64 architectures, such as v4l2, nvargus_socketclient, and nvbuf_utils.

```cmake
cmake_minimum_required(VERSION 3.5)
project (arguscapture)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
SET(CMAKE_BUILD_TYPE "Release")

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
set(CMAKE_DEBUG_POSTFIX "d")

find_package(TegraMM REQUIRED)
if(${TegraMM_FOUND})
  message(STATUS "Found Tegra Multimedia API")
else()
  message(STATUS "Could not find Tegra Multimedia API")
endif()

if (CMAKE_SYSTEM_PROCESSOR MATCHES aarch64)
  set(TegraMM_LIBRARY_DIRS "/usr/lib/aarch64-linux-gnu" "/usr/lib/aarch64-linux-gnu/tegra")
  set(TegraMM_LIBRARY_DIRS_CROSSCPL "/usr/xcc/aarch64-unknown-linux-gnu/lib/aarch64-linux-gnu/tegra" "/usr/xcc/aarch64-unknown-linux-gnu/lib/aarch64-linux-gnu" "/usr/xcc/aarch64-unknown-linux-gnu/lib/" "${cross_root}/lib")
  SET(SPECIAL_OS_LIBS v4l2 nvargus_socketclient nvbufsurftransform nvbufsurface EGL pthread)
  SET(NATIV_CMD "find /usr/lib/aarch64-linux-gnu/ -type f -name libnvbuf_utils* 2> /dev/null")
  SET(CROSS_CMD "find /usr/xcc/aarch64-unknown-linux-gnu/ -type f -name libnvbuf_utils* 2> /dev/null")
  execute_process(COMMAND bash "-c" ${NATIV_CMD} OUTPUT_VARIABLE NVBUF_UTILS_LIBRARY_NATIV)
  execute_process(COMMAND bash "-c" ${CROSS_CMD} OUTPUT_VARIABLE NVBUF_UTILS_LIBRARY_CC)
  if(NVBUF_UTILS_LIBRARY_NATIV OR NVBUF_UTILS_LIBRARY_CC)
    SET(SPECIAL_OS_LIBS ${SPECIAL_OS_LIBS} nvbuf_utils)
  endif()
endif()

### Set folder for sources and includes
SET(SRC_FOLDER ${CMAKE_CURRENT_SOURCE_DIR}/src)
SET(HDR_FOLDER ${CMAKE_CURRENT_SOURCE_DIR}/include)
include_directories(${HDR_FOLDER})

### List source files of library
FILE(GLOB_RECURSE ARGUS_CAPTURE_SRC "${SRC_FOLDER}/*.c*")
FILE(GLOB_RECURSE ARGUS_CAPTURE_HDR "${HDR_FOLDER}/*.h*")
```

--------------------------------

### CMake Build Configuration for raw_camera

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/sample_raw/CMakeLists.txt

This snippet details the CMake configuration for the 'raw_camera' project. It sets up the minimum CMake version, project name, enables compilation database export, finds and includes OpenCV, and conditionally includes Tegra multimedia API paths and libraries. It also defines C++ standard and optimization flags, and links necessary libraries.

```cmake
cmake_minimum_required(VERSION 3.5)
project(raw_camera)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

find_package(OpenCV REQUIRED)
include_directories(${OPENCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})

set(TegraMM_ROOT /usr/src/jetson_multimedia_api)
set(TegraMM_FOUND FALSE)

if(EXISTS ${TegraMM_ROOT})
  # set packages
  set(TegraMM_INCLUDE_DIRS ${TegraMM_ROOT}/include ${TegraMM_ROOT}/include/libjpeg-8b /usr/include/libdrm)
  set(TegraMM_LIBRARY_DIRS /usr/lib/aarch64-linux-gnu/tegra /usr/lib/aarch64-linux-gnu)
  set(TegraMM_LIBRARIES nvargus_socketclient nvjpeg drm nvbufsurftransform nvbufsurface nvosd EGL v4l2 GLESv2 X11 pthread vulkan)
  file(GLOB TegraMM_COMMON_SOURCES ${TegraMM_ROOT}/samples/common/classes/*.cpp)
  include_directories(${TegraMM_INCLUDE_DIRS})
  link_directories(${TegraMM_LIBRARY_DIRS})
  set(TegraMM_FOUND TRUE)
endif()

add_definitions(-std=c++14 -O3)
IF (BUILD_WITH_DEBUGINFOS)
    message("!! Building with -g !!")
    add_definitions(-g)
    set(ARGUS_LIB arguscapture)
ELSE()
    set(ARGUS_LIB arguscapture)
ENDIF()

add_executable(raw_camera main.cpp)
target_link_libraries(raw_camera ${ARGUS_LIB} pthread ${OpenCV_LIBRARIES} ${TegraMM_LIBRARIES})
```

--------------------------------

### ZED X One Stereo Calibration Usage

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/stereo_calibration/README.md

Commands to compile and run the ZED X One stereo calibration application. The application can be launched using camera IDs or a ZED Media Server configuration file.

```bash
# Compile the application
mkdir build && cd build
cmake ..
make

# Open cameras by id
./zedx_one_stereo_calibration <left_camera_id> <right_camera_id>

# Open cameras by using the ZED_Media_Server configuration file
./zedx_one_stereo_calibration /usr/local/zed/settings/virtual_xone_config.json
```

--------------------------------

### Compiler Flags and Library Linking

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/sample_mono/CMakeLists.txt

Sets C++ standard and optimization flags. It conditionally adds debug symbols and defines the target library name based on the build configuration. Finally, it links the executable with required libraries.

```cmake
add_definitions(-std=c++14 -O3)
IF (BUILD_WITH_DEBUGINFOS)
    message("!! Building with -g !!")
    add_definitions(-g)
    set(ARGUS_LIB arguscaptured)
ELSE()
    set(ARGUS_LIB arguscapture)
ENDIF()

add_executable(argus_camera main.cpp)
target_link_libraries(argus_camera ${ARGUS_LIB} pthread ${OpenCV_LIBRARIES} ${TegraMM_LIBRARIES})
```

--------------------------------

### Compiler Flags and Library Linking

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/sample/CMakeLists.txt

Sets C++ standard and optimization flags. It conditionally adds debug symbols and defines the target library name based on the build configuration. Finally, it links the executable with required libraries.

```cmake
add_definitions(-std=c++14 -O3)
IF (BUILD_WITH_DEBUGINFOS)
    message("!! Building with -g !!")
    add_definitions(-g)
    set(ARGUS_LIB arguscaptured)
ELSE()
    set(ARGUS_LIB arguscapture)
ENDIF()

add_executable(argus_camera main.cpp)
target_link_libraries(argus_camera ${ARGUS_LIB} pthread ${OpenCV_LIBRARIES} ${TegraMM_LIBRARIES})
```

--------------------------------

### ZED X One Stereo Calibration Configuration

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/stereo_calibration/README.md

Configuration parameters for the ZED X One stereo calibration process. These values should be adjusted based on the specific chessboard pattern used for calibration.

```C++
// CHANGE THIS PARAM BASED ON THE CHECKERBOARD USED
// https://docs.opencv.org/4.x/da/d0d/tutorial_camera_calibration_pattern.html
int target_w = 9; // number of horizontal inner edges
int target_h = 6; // number of vertical inner edges
float square_size = 25.0; // mm
```

--------------------------------

### Build Options: Sanitizers and Debug Info

Source: https://github.com/stereolabs/zedx-one-capture/blob/main/lib/CMakeLists.txt

Enables build-time options for AddressSanitizer and debug information. When enabled, it adds specific compiler and linker flags to detect memory errors and include debugging symbols.

```cmake
## DEBUG/ SANITIZER options
add_definitions(-Werror=return-type)
IF (BUILD_WITH_SANITIZER)
    message("!! Building with address sanitizer and -g !!")
    set (CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fno-omit-frame-pointer -static-libasan -fsanitize=address")
    set (CMAKE_LINKER_FLAGS_DEBUG "${CMAKE_LINKER_FLAGS_DEBUG} -fno-omit-frame-pointer -static-libasan -fsanitize=address")
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-omit-frame-pointer -static-libasan -fsanitize=address -Wall -Wextra -g")
    set (CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fno-omit-frame-pointer -static-libasan -fsanitize=address -Wall -Wextra -g")
    add_definitions(-g -fsanitize=address -fno-omit-frame-pointer -static-libasan -Wall -Wextra)
ENDIF()

IF (BUILD_WITH_DEBUGINFOS)
    message("!! Building with -g !!")
    add_definitions(-g)
ENDIF()
```

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