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]