【无标题】

ZED_Pro1：ZED深度相机进行点云可视化和保存

`提示：我在这里想得到深度相机获取的点云数据并且进行可视化，虽然光放以及给出一部分代码，但是并不能支撑我完成所有工作，所以在这里做一个简单的记录吧。

导入各种需要的包：

import time
import pyzed.sl as sl
import math
import numpy as np
import sys
import cv2
from scipy.spatial.transform import Rotation
from matplotlib import pyplot as plt
import transforms3d as tfs
from open3d import*
from pclpy import pcl
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
import numpy as np
import open3d as o3d

定义一个获取点云的函数，并且返回保存点云文件名：

`提示：这里我保存的点云格式是“.xyz"，如果想换成其他格式，替换这个地方就可以

def save_point_cloud(zed, filename) :
    print("Saving Point Cloud...")
    tmp = sl.Mat()
    zed.retrieve_measure(tmp, sl.MEASURE.XYZRGBA)
    saved = (tmp.write(filename + ".xyz") == sl.ERROR_CODE.SUCCESS) # 如果想换成其他格式，替换这个地方就可以
    if saved :
        print("Done")
    else :
        print("Failed... Please check that you have permissions to write on disk")
    return str(filename + ".xyz") # 这里也要改成一致

然后开始整个流程：

def main():
    # 创建ZED相机
    zed = sl.Camera()

    # 设置相机参数
    init_params = sl.InitParameters()
    init_params.depth_mode = sl.DEPTH_MODE.PERFORMANCE  # Use PERFORMANCE depth mode
    init_params.coordinate_units = sl.UNIT.METER  # Use meter units (for depth measurements)
    init_params.camera_resolution = sl.RESOLUTION.HD720

    # Open the camera
    err = zed.open(init_params)
    if err != sl.ERROR_CODE.SUCCESS:
        exit(1)

    # Create and set RuntimeParameters after opening the camera
    runtime_parameters = sl.RuntimeParameters()
    runtime_parameters.sensing_mode = sl.SENSING_MODE.STANDARD  # Use STANDARD sensing mode
    # Setting the depth confidence parameters
    runtime_parameters.confidence_threshold = 100
    runtime_parameters.textureness_confidence_threshold = 100

    # 创建Mat
    i = 0
    image = sl.Mat()
    depth = sl.Mat()
    point_cloud = sl.Mat()

    mirror_ref = sl.Transform()
    mirror_ref.set_translation(sl.Translation(2.75,4.0,0))
    tr_np = mirror_ref.m

    # 如果使用ZED2i相机，可以启用位置跟踪
    zed.enable_positional_tracking()
    zed_pose = sl.Pose()
    
	# 这里我为了看效果，只设置1帧
    while i < 1:
        # A new image is available if grab() returns SUCCESS
        if zed.grab(runtime_parameters) == sl.ERROR_CODE.SUCCESS:
            # Retrieve left image
            zed.retrieve_image(image, sl.VIEW.LEFT)
            # Retrieve depth map. Depth is aligned on the left image
            zed.retrieve_measure(depth, sl.MEASURE.DEPTH)
            # Retrieve colored point cloud. Point cloud is aligned on the left image.
            zed.retrieve_measure(point_cloud, sl.MEASURE.XYZRGBA)
            point_cloud_np = point_cloud.get_data()
            point_cloud_np.dot(tr_np)
            # 这里是以时间为命名方式保存点云文件，保存python项目下
            date_string = time.strftime("%Y%m%d %H.%M")
            saved = save_point_cloud(zed, date_string)

            pcd = o3d.io.read_point_cloud(saved)  # 这里的cat.ply替换成需要查看的点云文件
            o3d.visualization.draw_geometries([pcd])
            
            i = i + 1


    # 关闭相机
    zed.close()
if __name__ == "__main__":
    main()

例如：

• 技术笔记 2 遍
• CSDN 技术博客 3 篇
• 习的 vlog 视频 1 个