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ZedCamera

Inherits from: Camera No class docstring.

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Inherited methods

  • From Camera: getData, getCameraIntrinsics, setCameraIntrinsics, getCameraSettings, setCameraSettings

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init

ZedCamera.__init__(resolution: Union[str, None] = 'AUTO', fps: Union[int, None] = 30, positional_tracking: bool = False)
No docstring provided.
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Arguments
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resolution (Union[str, None])
Union[str, None]
No description provided.
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fps (Union[int, None])
Union[int, None]
No description provided.
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positional_tracking (bool)
bool
No description provided.

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getImage

ZedCamera.getImage(image_type: str = 'rgb', camera_name: str = 'left')
No docstring provided.
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Arguments
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image_type (str)
str
No description provided.
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camera_name (str)
str
No description provided.

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getStereoImagePair

ZedCamera.getStereoImagePair() -> tuple
Get a synchronized pair of left and right images for stereo vision.
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Returns
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returns
tuple

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getExtrinsics

ZedCamera.getExtrinsics(source_image_frame: str, target_image_frame: str) -> np.ndarray
Get the transform of the target sensor frame with respect to the source sensor frame as a 4x4 homogeneous transformation matrix (np.ndarray) This transform transforms a 3D point (in meters) from the source frame to the target frame.
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Arguments
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source_image_frame (str)
str
required
the frame of the source sensor. Valid values are ‘color’, ‘rgb’, ‘left’, ‘right’
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target_image_frame (str)
str
required
the frame of the target sensor. Valid values are ‘color’, ‘rgb’, ‘left’, ‘right’
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Returns
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np.ndarray
np.ndarray
4x4 homogeneous transformation matrix

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getPose

ZedCamera.getPose()
No docstring provided.

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getPosition

ZedCamera.getPosition()
No docstring provided.

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getOrientation

ZedCamera.getOrientation()
No docstring provided.

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getCameraMatrix

ZedCamera.getCameraMatrix(image_type: str = None) -> np.ndarray
Get the camera matrix K as a numpy array of shape (3, 3) K = [[fx, 0, cx], [0, fy, cy], [0, 0, 1]]
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Arguments
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image_type (str)
str
str, Describes which camera sensor to get the intrinsics of. Valid image_types are: ‘left’, ‘color’, ‘rgb’ (all refer to left camera), or ‘right’
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Returns
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np.ndarray
np.ndarray
camera matrix

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getDistortionCoefficients

ZedCamera.getDistortionCoefficients(image_type: str = 'left') -> np.ndarray
Get distortion coefficients as a numpy array of shape (5,)
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Arguments
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image_type (str)
str
str, Describes which camera sensor to get the intrinsics of. Valid image_types are: ‘left’, ‘right’
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Returns
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np.ndarray
np.ndarray
distortion coefficients