get point cloud data file (.pcd)

[dohyeonYoon]

Preliminary Checks

• [X] This issue is not a duplicate. Before opening a new issue, please search existing issues.
• [X] This issue is not a question, bug report, or anything other than a feature request directly related to this project.

Proposal

Hello I am trying to get RGB image file (.jpeg) and point cloud data file (.pcd) through zed camera with python.

But in python api

point_cloud = sl.Mat()
zed.retrieve_measure(point_cloud, sl.MEASURE.XYZRGBA)

point3D = point_cloud.get_value(i,j)
x = point3D[0]
y = point3D[1]
z = point3D[2]

color = point3D[3]

with the getValue() function as in the code I could only get the pointcloud information of a specific pixel.

How can I save whole point cloud data file in .pcd format with python?

I need the full point cloud data file.

best regards, dohyeon

Use-Case

No response

Anything else?

No response

[obraun-sl]

Hi,

You can use the write() function of sl.Mat to write the point cloud in a file : https://www.stereolabs.com/docs/api/python/classpyzed_1_1sl_1_1Mat.html#ae0568cd94ee09fa51eaf50679e3a2def

--> point_cloud.write("test.pcd");

[dohyeonYoon]

hello oliver

thank you so much !!!!

I solve the problem ! :)

best regards dohyeon

2022년 2월 3일 (목) 오후 4:39, Oliver Braun @.***>님이 작성:

Hi,

You can use the write() function of sl.Mat to write the point cloud in a file :

https://www.stereolabs.com/docs/api/python/classpyzed_1_1sl_1_1Mat.html#ae0568cd94ee09fa51eaf50679e3a2def

--> point_cloud.write("test.pcd");

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