> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# ZedCamera

## ZedCamera

Inherits from: [`Camera`](/robot-api/reference/base/sensors/camera/Camera)

*No class docstring.*

### Inherited methods

* From [`Camera`](/robot-api/reference/base/sensors/camera/Camera): `getData`, `getCameraIntrinsics`, `setCameraIntrinsics`, `getCameraSettings`, `setCameraSettings`

### **init**

```python theme={null}
ZedCamera.__init__(resolution: Union[str, None] = 'AUTO', fps: Union[int, None] = 30, positional_tracking: bool = False)
```

*No docstring provided.*

<ResponseField name="Arguments">
  <ParamField query="resolution (Union[str, None])" type="Union[str, None]">
    *No description provided.*
  </ParamField>

  <ParamField query="fps (Union[int, None])" type="Union[int, None]">
    *No description provided.*
  </ParamField>

  <ParamField query="positional_tracking (bool)" type="bool">
    *No description provided.*
  </ParamField>
</ResponseField>

### getImage

```python theme={null}
ZedCamera.getImage(image_type: str = 'rgb', camera_name: str = 'left')
```

*No docstring provided.*

<ResponseField name="Arguments">
  <ParamField query="image_type (str)" type="str">
    *No description provided.*
  </ParamField>

  <ParamField query="camera_name (str)" type="str">
    *No description provided.*
  </ParamField>
</ResponseField>

### getStereoImagePair

```python theme={null}
ZedCamera.getStereoImagePair() -> tuple
```

Get a synchronized pair of left and right images for stereo vision.

<ResponseField name="Returns">
  <ResponseField name="returns" type="tuple" />
</ResponseField>

### getExtrinsics

```python theme={null}
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.

<ResponseField name="Arguments">
  <ParamField query="source_image_frame (str)" type="str" required>
    the frame of the source sensor. Valid values are 'color', 'rgb', 'left', 'right'
  </ParamField>

  <ParamField query="target_image_frame (str)" type="str" required>
    the frame of the target sensor. Valid values are 'color', 'rgb', 'left', 'right'
  </ParamField>
</ResponseField>

<ResponseField name="Returns">
  <ResponseField name="np.ndarray" type="np.ndarray">
    4x4 homogeneous transformation matrix
  </ResponseField>
</ResponseField>

### getPose

```python theme={null}
ZedCamera.getPose()
```

*No docstring provided.*

### getPosition

```python theme={null}
ZedCamera.getPosition()
```

*No docstring provided.*

### getOrientation

```python theme={null}
ZedCamera.getOrientation()
```

*No docstring provided.*

### getCameraMatrix

```python theme={null}
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]]

<ResponseField name="Arguments">
  <ParamField query="image_type (str)" type="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'
  </ParamField>
</ResponseField>

<ResponseField name="Returns">
  <ResponseField name="np.ndarray" type="np.ndarray">
    camera matrix
  </ResponseField>
</ResponseField>

### getDistortionCoefficients

```python theme={null}
ZedCamera.getDistortionCoefficients(image_type: str = 'left') -> np.ndarray
```

Get distortion coefficients as a numpy array of shape (5,)

<ResponseField name="Arguments">
  <ParamField query="image_type (str)" type="str">
    str,  Describes which camera sensor to get the intrinsics of. Valid image\_types are: 'left', 'right'
  </ParamField>
</ResponseField>

<ResponseField name="Returns">
  <ResponseField name="np.ndarray" type="np.ndarray">
    distortion coefficients
  </ResponseField>
</ResponseField>