想定する読者
stereolabsのzed2, zed mini, zed-x などのステレオカメラの利用者
いまどきのステレオカメラは何ができるのかを知りたい人
前提
ZED SDK 4.1
Ubuntu 20.04
ZED2i
Python 版のAPI
FusedPointCloud クラス
点群のデータになっています。
class FusedPointCloud(builtins.object)
| Methods defined here:
|
| __getitem__(self, key, /)
| Return self[key].
|
| __reduce__ = __reduce_cython__(...)
| FusedPointCloud.__reduce_cython__(self)
|
| __setstate__ = __setstate_cython__(...)
| FusedPointCloud.__setstate_cython__(self, __pyx_state)
|
| clear(self) -> 'None'
| FusedPointCloud.clear(self) -> None
|
| get_number_of_points(self) -> 'int'
| FusedPointCloud.get_number_of_points(self) -> int
|
| load(self, filename: 'str', update_chunk_only=False) -> 'bool'
| FusedPointCloud.load(self, str filename: str, update_chunk_only=False) -> bool
|
| save(self, filename: 'str', typeMesh=<MESH_FILE_FORMAT.OBJ: 2>, id=[]) -> 'bool'
| FusedPointCloud.save(self, str filename: str, typeMesh=MESH_FILE_FORMAT.OBJ, id=[]) -> bool
|
| update_from_chunklist(self, id=[]) -> 'None'
| FusedPointCloud.update_from_chunklist(self, id=[]) -> None
|
| ----------------------------------------------------------------------
| Static methods defined here:
|
| __new__(*args, **kwargs) from builtins.type
| Create and return a new object. See help(type) for accurate signature.
|
| ----------------------------------------------------------------------
| Data descriptors defined here:
|
| chunks
| FusedPointCloud.chunks: list[PointCloudChunk]
|
| normals
| FusedPointCloud.normals: np.array[float]
|
| vertices
| FusedPointCloud.vertices: np.array[float]
Mesh クラス
こちらは、メッシュなので三角形の面が用意されています。
normals: は法線のデータです。
class Mesh(builtins.object)
| Methods defined here:
|
| __getitem__(self, key, /)
| Return self[key].
|
| __reduce__ = __reduce_cython__(...)
| Mesh.__reduce_cython__(self)
|
| __setstate__ = __setstate_cython__(...)
| Mesh.__setstate_cython__(self, __pyx_state)
|
| apply_texture(self, texture_format=<MESH_TEXTURE_FORMAT.RGB: 0>) -> 'bool'
| Mesh.apply_texture(self, texture_format=MESH_TEXTURE_FORMAT.RGB) -> bool
|
| clear(self) -> 'None'
| Mesh.clear(self) -> None
|
| filter(self, params=<pyzed.sl.MeshFilterParameters object at 0xffff6f03e2f0>, update_chunk_only=False) -> 'bool'
| Mesh.filter(self, params=MeshFilterParameters(), update_chunk_only=False) -> bool
|
| get_boundaries(self) -> 'np.array[int]'
| Mesh.get_boundaries(self) -> np.array[int]
|
| get_gravity_estimate(self) -> 'np.array[float]'
| Mesh.get_gravity_estimate(self) -> np.array[float]
|
| get_number_of_triangles(self) -> 'int'
| Mesh.get_number_of_triangles(self) -> int
|
| get_surrounding_list(self, camera_pose: 'Transform', radius: 'float') -> 'list[int]'
| Mesh.get_surrounding_list(self, Transform camera_pose: Transform, double radius: float) -> list[int]
|
| get_visible_list(self, camera_pose: 'Transform') -> 'list[int]'
| Mesh.get_visible_list(self, Transform camera_pose: Transform) -> list[int]
|
| load(self, filename: 'str', update_mesh=False) -> 'bool'
| Mesh.load(self, str filename: str, update_mesh=False) -> bool
|
| merge_chunks(self, faces_per_chunk: 'int') -> 'None'
| Mesh.merge_chunks(self, int faces_per_chunk: int) -> None
|
| save(self, filename: 'str', typeMesh=<MESH_FILE_FORMAT.OBJ: 2>, id=[]) -> 'bool'
| Mesh.save(self, str filename: str, typeMesh=MESH_FILE_FORMAT.OBJ, id=[]) -> bool
|
| update_mesh_from_chunklist(self, id=[]) -> 'None'
| Mesh.update_mesh_from_chunklist(self, id=[]) -> None
|
| ----------------------------------------------------------------------
| Static methods defined here:
|
| __new__(*args, **kwargs) from builtins.type
| Create and return a new object. See help(type) for accurate signature.
|
| ----------------------------------------------------------------------
| Data descriptors defined here:
|
| chunks
| Mesh.chunks: list[Chunk]
|
| colors
| Mesh.colors: np.array[int]
|
| normals
| Mesh.normals: np.array[float]
|
| texture
| Mesh.texture: Mat
|
| triangles
| Mesh.triangles: np.array[int]
|
| uv
| Mesh.uv: np.array[float]
|
| vertices
| Mesh.vertices: np.array[float]