How to use World Frame for Point Cloud Data?

[Flocker]

I don’t have any need for tracking objects or object detection. I see that the positional tracking parameters have an option for world frame points, but they only apply to object position (as my understanding). Am I to use this somehow?

if zed.grab(runtime_parameters) == sl.ERROR_CODE.SUCCESS:
zed.retrieve_measure(point_cloud, sl.MEASURE.XYZRGBA)
This code grabs point cloud information with camera at origin. I would like this to grab point cloud information with “world frame” reference with floor as origin somehow.

References:

https://www.stereolabs.com/docs/api/python/group__PositionalTracking__group.html

How to get position of a detected object relative to the world?

Hi I am currently working on a project where the ZED Camera 2 will be fixed at a certain angle and height, and would be constantly tracking any people coming in the sight of the camera. I would like to map the position of the detected people on a 2D canvas (imagine a 2D game where character will move in x-y coordinates) and I was wondering what would be the best way to translate the position information made available for the detected objects to map the detected objects onto the canvas. How woul…

[Flocker]

Python code:
runtime_parameters = sl.RuntimeParameters()
runtime_parameters.measure3D_reference_frame = sl.REFERENCE_FRAME.WORLD
zed.enable_positional_tracking(positional_tracking_parameters)

After testing of this code, the origin of the world frame is the camera.