zed-playground/workspaces/py_workspace/depth_sensing.py

"""
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)