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python workspace

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crosstyan
2026-02-04 15:42:08 +08:00
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########################################################################
#
# Copyright (c) 2022, STEREOLABS.
#
# All rights reserved.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
########################################################################
"""
This sample demonstrates how to capture a live 3D point cloud
with the ZED SDK and display the result in an OpenGL window.
"""
import sys
import ogl_viewer.viewer as gl
import pyzed.sl as sl
import argparse
def parse_args(init, opt):
if len(opt.input_svo_file)>0 and opt.input_svo_file.endswith((".svo", ".svo2")):
init.set_from_svo_file(opt.input_svo_file)
print("[Sample] Using SVO File input: {0}".format(opt.input_svo_file))
elif len(opt.ip_address)>0 :
ip_str = opt.ip_address
if ip_str.replace(':','').replace('.','').isdigit() and len(ip_str.split('.'))==4 and len(ip_str.split(':'))==2:
init.set_from_stream(ip_str.split(':')[0],int(ip_str.split(':')[1]))
print("[Sample] Using Stream input, IP : ",ip_str)
elif ip_str.replace(':','').replace('.','').isdigit() and len(ip_str.split('.'))==4:
init.set_from_stream(ip_str)
print("[Sample] Using Stream input, IP : ",ip_str)
else :
print("Unvalid IP format. Using live stream")
if ("HD2K" in opt.resolution):
init.camera_resolution = sl.RESOLUTION.HD2K
print("[Sample] Using Camera in resolution HD2K")
elif ("HD1200" in opt.resolution):
init.camera_resolution = sl.RESOLUTION.HD1200
print("[Sample] Using Camera in resolution HD1200")
elif ("HD1080" in opt.resolution):
init.camera_resolution = sl.RESOLUTION.HD1080
print("[Sample] Using Camera in resolution HD1080")
elif ("HD720" in opt.resolution):
init.camera_resolution = sl.RESOLUTION.HD720
print("[Sample] Using Camera in resolution HD720")
elif ("SVGA" in opt.resolution):
init.camera_resolution = sl.RESOLUTION.SVGA
print("[Sample] Using Camera in resolution SVGA")
elif ("VGA" in opt.resolution):
init.camera_resolution = sl.RESOLUTION.VGA
print("[Sample] Using Camera in resolution VGA")
elif len(opt.resolution)>0:
print("[Sample] No valid resolution entered. Using default")
else :
print("[Sample] Using default resolution")
def main(opt):
print("Running Depth Sensing sample ... Press 'Esc' to quit\nPress 's' to save the point cloud")
# Determine memory type based on CuPy availability and user preference
use_gpu = gl.GPU_ACCELERATION_AVAILABLE and not opt.disable_gpu_data_transfer
mem_type = sl.MEM.GPU if use_gpu else sl.MEM.CPU
if use_gpu:
print("🚀 Using GPU data transfer with CuPy")
init = sl.InitParameters(depth_mode=sl.DEPTH_MODE.NEURAL,
coordinate_units=sl.UNIT.METER,
coordinate_system=sl.COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP)
parse_args(init, opt)
zed = sl.Camera()
status = zed.open(init)
if status > sl.ERROR_CODE.SUCCESS:
print(repr(status))
exit()
res = sl.Resolution()
res.width = -1
res.height = -1
# Get the first PC to retrieve the resolution
point_cloud = sl.Mat()
zed.retrieve_measure(point_cloud, sl.MEASURE.XYZRGBA, mem_type, res)
res = point_cloud.get_resolution()
# Create OpenGL viewer
viewer = gl.GLViewer()
viewer.init(1, sys.argv, res)
while viewer.is_available():
if zed.grab() <= sl.ERROR_CODE.SUCCESS:
# Retrieve point cloud data using the optimal memory type (GPU if CuPy available)
zed.retrieve_measure(point_cloud, sl.MEASURE.XYZRGBA, mem_type, res)
viewer.updateData(point_cloud)
if viewer.save_data:
# For saving, we take CPU memory regardless of processing type
point_cloud_to_save = sl.Mat()
zed.retrieve_measure(point_cloud_to_save, sl.MEASURE.XYZRGBA, sl.MEM.CPU)
err = point_cloud_to_save.write('Pointcloud.ply')
if(err == sl.ERROR_CODE.SUCCESS):
print("Current .ply file saving succeed")
else:
print("Current .ply file failed")
viewer.save_data = False
viewer.exit()
zed.close()
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('--input_svo_file', type=str, help='Path to an .svo file, if you want to replay it',default = '')
parser.add_argument('--ip_address', type=str, help='IP Adress, in format a.b.c.d:port or a.b.c.d, if you have a streaming setup', default = '')
parser.add_argument('--resolution', type=str, help='Resolution, can be either HD2K, HD1200, HD1080, HD720, SVGA or VGA', default = '')
parser.add_argument('--disable-gpu-data-transfer', action='store_true', help='Disable GPU data transfer acceleration with CuPy even if CuPy is available')
opt = parser.parse_args()
if len(opt.input_svo_file)>0 and len(opt.ip_address)>0:
print("Specify only input_svo_file or ip_address, or none to use wired camera, not both. Exit program")
exit()
main(opt)