Hey everyone!
As the title implies, I’m currently trying to visualize zed pointcloud data using o3d in real time. At the moment, the visualizer only displays a blank white screen. I can’t seem to find any information on this online however, the code I’m using is below.
The end goal is to be able to use the pointcloud data in open3D. I originally tried to use ROS2 foxy, however, I couldn’t find a way to convert PointCloud2 data to something usable for open3d.
import pyzed.sl as sl
import open3d as o3d
# Initialize the ZED camera
init_params = sl.InitParameters()
init_params.camera_resolution = sl.RESOLUTION.HD720 # Set your desired resolution
zed = sl.Camera()
if not zed.is_opened():
zed.open(init_params)
# Create an Open3D visualizer
vis = o3d.visualization.Visualizer()
vis.create_window()
try:
while True:
# Capture a frame
runtime_parameters = sl.RuntimeParameters()
if zed.grab(runtime_parameters) == sl.ERROR_CODE.SUCCESS:
# Retrieve the point cloud
point_cloud = sl.Mat()
zed.retrieve_measure(point_cloud, sl.MEASURE.XYZRGBA)
# Get the point cloud data as a numpy array
point_cloud_data = point_cloud.get_data()
# Extract the XYZ data
xyz_data = point_cloud_data[:, :, :3]
xyz_data = xyz_data.reshape(-1,3)
# Create an Open3D point cloud
point_cloud_o3d = o3d.geometry.PointCloud()
point_cloud_o3d.points = o3d.utility.Vector3dVector(xyz_data)
# Add the point cloud to the visualizer
vis.add_geometry(point_cloud_o3d)
# Update the visualization
vis.update_geometry(point_cloud_o3d)
vis.poll_events()
vis.update_renderer()
except KeyboardInterrupt:
# Exit the loop when a keyboard interrupt (e.g., Ctrl+C) is detected
pass
# Close the ZED camera and the visualizer
zed.close()
vis.destroy_window()
Any assistance would be amazing!
