Zed gstreamer pipeline extract point cloud data

Software Python
#1

I am using my ZED camera to feed a NVIDIA deepstream gstreamer pipeline to do object recognition.

I would like to extract the depth measurement from the (“zedsrc”, “stream-type=0”) so I can add it to the object recognition results produced by the Nvidia gstreamer pipeline.

In the python Opencv example the following script extracts the depth data.

" zed.retrieve_measure(point_cloud, sl.MEASURE.XYZRGBA, sl.MEM.CPU, image_size)"

How can I extract this from the ZED gstreamer pipeline.

#2

Hi @joev
the pointcloud information is not available in the GStreamer pipeline.
Sincerely I never found an example of it.
To extract the X, Y, and Z information you can use the depth map and the math formulas for the points that you need: