Experimental:ZED TOP

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Summary
[edit]

NOTE

OS: This operator is only supported under the Microsoft Windows operating system.

The ZED TOP captures video from the ZED depth camera.

NOTE: This TOP works with the Stereolabs ZED hardware. For more information and to know what ZED SDK to install refer to the ZED article.

It supports point clouds - getting the camera space positions of the color pixels, outputted as a 32-bit float RGB texture with XYZ in the RGB channels. It can be used in making point clouds renders as it is in the format for Geometry COMP instancing.

See also ZED CHOP and ZED SOP.

PythonIcon.pngzedTOP_Class


Parameters - ZED Page

Active active - When set to 1 the TOP captures the image stream from the camera.

Input Source inputsource - - Select which input type to use between USB, recorded SVO file, or network streaming
  • Camera camera - USB.
  • SVO File svofile - Recorded SVO file. Camera settings will not be applied to SVO mode.
  • Network Stream networkstream - Network streaming.

Camera camera - Selects which ZED camera to use.

File file - The path and name of the recorded SVO file to load. SVO and SVO2 playback is supported.

Stream IP streamip - The IP address of the streaming camera.

Stream Port streamport - The port of the streaming camera.

Initialize initialize - (pulse) Initializes the SVO playback: sets the SVO position to zero.

Start start - (pulse) Start is the signal to commence the SVO playback.

Play play - SVO plays when 1, SVO stops when 0.

Cue cue - Jumps to Cue Point when set to 1.

Cue Point cuepoint - Set the SVO position in the SVO playback as a point to jump to.

Cue Unit cueunit - - Select the units for this parameter from Index, Frames, and Seconds.
  • I indices -
  • F frames -
  • S seconds -

Perspective perspective - - Choose between Left or Right camera.
  • Left left -
  • Right right -

Image image - - Selects between the Color, Depth, Confidence, Disparity, Normals, Point Cloud or Spatial Texture modes.
  • Color color - Uses the RGB image from the camera.
  • Depth depth - Textures where the value of the pixel is the distance in meters from the camera.
  • Confidence confidence - Gives the confidence/certainty of the depth map ranging from 0-1.
  • Disparity disparity - Uses the disparity map from the camera.
  • Normals normals - Each RGB pixel of the texture gives the XYZ pixel normal in meters.
  • Point Cloud pointcloud - The texture will be a 32-bit floating point texture where RGB pixel values are XYZ pixel values relative to the color camera, in meters.
  • Spatial Texture spatialtexture - Uses the texture extracted during spatial mapping by the ZED SOP.

Camera Resolution cameraresolution - - Selects the resolution of the camera capture.
  • 2208 x 1242 2208x1242 -
  • 1920 x 1080 1920x1080 -
  • 1280 x 720 1280x720 -
  • 672 x 376 672x376 -

Camera FPS camerafps - Sets the frame rate of the camera capture.

Sensing Mode sensingmode - - Selects betweem Standard and Fill mode.
  • Standard standard - Uses depth map that preserves edges and depth accuracy.
  • Interpolate interpolate - Interpolate between depth edges.

Depth Quality depthquality - - Selects the depth computation mode of the camera.
  • Performance performance - Uses minimal resources for computation.
  • Quality quality - Uses high quality depth map requiring more resources.
  • Ultra ultra - An even better quality depth map than high, but also requiring even more resources.
  • Neural neural - This use an AI model to refine the depth. On first use the model will need to be optimized for your GPU, which will take serveral minutes. This only needs to occur once per machine.

Minimum Depth mindepth - Sets the minimum depth in meters that will be computed.

Maximum Depth maxdepth - Sets the maximum depth in meters.

Too Close Value toocloseval - For depth pixels that are too close to resolve, this pixel value will be output instead.

Too Far Value toofarval - For depth pixels that are too far to resolve, this pixel value will be output instead.

Unknown Value unknownval - For depth pixels whose depth can not be determined, output this value instead.

Depth Stabilization depthstabilization - Enables depth stabilization for the camera.

Rerange rerange - Enabling this will remap pixel values to 0-1.

Reference Frame referenceframe - - Select between World and Camera reference frames for the Point Cloud pixels.
  • World world - The pixel values are with reference to the initial position of the camera.
  • Camera camera - The pixel values are with relative to the current position of the camera.

Camera Transform resetcameratransform - Resets the camera position used for the reference frame above.

Mirror Image mirrorimage - Flips the image in the y-axis.


Parameters - Settings Page

Brightness bright - Turn on to enable brightness adjustment controls for the camera. When disabled, the camera will use default brightness.

Brightness brightval - The brightness of the camera feed.

Contrast cont - Turn on to enable contrast adjustment controls for the camera. When disabled, the camera will use default contrast.

Contrast contval - The contrast of the camera feed.

Hue hue - Turn on to enable hue adjustment controls for the camera. When disabled, the camera will use default hue.

Hue hueval - The hue of the camera feed.

Saturation sat - Turn on to enable saturation adjustment controls for the camera. When disabled, the camera will use default saturation.

Saturation satval - The saturation of the camera feed.

Sharpness sharp - Turn on to enable sharpness adjustment controls for the camera. When disabled, the camera will use default sharpness.

Sharpness sharpval - The sharpness of the camera feed.

Gamma gamma - Turn on to enable gamma adjustment controls for the camera. When disabled, the camera will use default gamma.

Gamma gammaval - The gamma of the camera feed.

Auto Gain-Exposure autogainexp - Turn on to enable auto gain and exposure for the camera. When disabled, the camera will not apply auto gain and exposure.

Gain gain - Turn on to enable gain adjustment controls for the camera. When disabled, the camera will use default gain.

Gain gainval - The gain of the camera feed.

Exposure exp - Turn on to enable exposure adjustment controls for the camera. When disabled, the camera will use default exposure.

Exposure expval - The exposure of the camera feed.

Region of Interest roi - Turn on to enable region of interest adjustment controls for the camera when auto gain and exposure is enabled. When disabled, the region of interest will be the full image. The region of interest is a rectangle that defines the target area for auto gain and exposure computation. It must be given according to camera resolution.

ROI Coordinate coord - - The coordinate of the top-left corner of the region of interest rectangle.
  • ROI Coordinate coordx - The x coordinate of the top-left corner.
  • ROI Coordinate coordy - The y coordinate of the top-left corner.

ROI Dimension dim - - The dimensions of the region of interest rectangle.
  • ROI Dimension dimw - The width of the rectangle.
  • ROI Dimension dimh - The height of the rectangle.

Auto White Balance autowhitebal - Turn on to enable auto white balance for the camera. When disabled, the camera will not apply auto white balance.

White Balance whitebal - Turn on to enable white balance controls for the camera. When disabled, the camera will use default white balance.

White Balance whitebalval - The white balance of the camera feed. White balance values are internally multiplied by 100 to be within the range of [2800, 6500].

LED Status ledstat - Turn on to enable the front LED of camera. When disabled, the camera LED will be disabled.

Parameters - Common Page

Output Resolution outputresolution - - quickly change the resolution of the TOP's data.
  • Use Input useinput - Uses the input's resolution.
  • Eighth eighth - Multiply the input's resolution by that amount.
  • Quarter quarter - Multiply the input's resolution by that amount.
  • Half half - Multiply the input's resolution by that amount.
  • 2X 2x - Multiply the input's resolution by that amount.
  • 4X 4x - Multiply the input's resolution by that amount.
  • 8X 8x - Multiply the input's resolution by that amount.
  • Fit Resolution fit - Grow or shrink the input resolution to fit this resolution, while keeping the aspect ratio the same.
  • Limit Resolution limit - Limit the input resolution to be not larger than this resolution, while keeping the aspect ratio the same.
  • Custom Resolution custom - Directly control the width and height.

Resolution resolution - - Enabled only when the Resolution parameter is set to Custom Resolution. Some Generators like Constant and Ramp do not use inputs and only use this field to determine their size. The drop down menu on the right provides some commonly used resolutions.
  • W resolutionw -
  • H resolutionh -

Resolution Menu resmenu - A drop-down menu with some commonly used resolutions.

Use Global Res Multiplier resmult - Uses the Global Resolution Multiplier found in Edit>Preferences>TOPs. This multiplies all the TOPs resolutions by the set amount. This is handy when working on computers with different hardware specifications. If a project is designed on a desktop workstation with lots of graphics memory, a user on a laptop with only 64MB VRAM can set the Global Resolution Multiplier to a value of half or quarter so it runs at an acceptable speed. By checking this checkbox on, this TOP is affected by the global multiplier.

Output Aspect outputaspect - - Sets the image aspect ratio allowing any textures to be viewed in any size. Watch for unexpected results when compositing TOPs with different aspect ratios. (You can define images with non-square pixels using xres, yres, aspectx, aspecty where xres/yres != aspectx/aspecty.)
  • Use Input useinput - Uses the input's aspect ratio.
  • Resolution resolution - Uses the aspect of the image's defined resolution (ie 512x256 would be 2:1), whereby each pixel is square.
  • Custom Aspect custom - Lets you explicitly define a custom aspect ratio in the Aspect parameter below.

Aspect aspect - - Use when Output Aspect parameter is set to Custom Aspect.
  • Aspect1 aspect1 -
  • Aspect2 aspect2 -

Aspect Menu armenu - A drop-down menu with some commonly used aspect ratios.

Input Smoothness inputfiltertype - - This controls pixel filtering on the input image of the TOP.
  • Nearest Pixel nearest - Uses nearest pixel or accurate image representation. Images will look jaggy when viewing at any zoom level other than Native Resolution.
  • Interpolate Pixels linear - Uses linear filtering between pixels. This is how you get TOP images in viewers to look good at various zoom levels, especially useful when using any Fill Viewer setting other than Native Resolution.
  • Mipmap Pixels mipmap - Uses mipmap filtering when scaling images. This can be used to reduce artifacts and sparkling in moving/scaling images that have lots of detail.

Fill Viewer fillmode - - Determine how the TOP image is displayed in the viewer.

NOTE:To get an understanding of how TOPs work with images, you will want to set this to Native Resolution as you lay down TOPs when starting out. This will let you see what is actually happening without any automatic viewer resizing.

  • Use Input useinput - Uses the same Fill Viewer settings as it's input.
  • Fill fill - Stretches the image to fit the edges of the viewer.
  • Fit Horizontal width - Stretches image to fit viewer horizontally.
  • Fit Vertical height - Stretches image to fit viewer vertically.
  • Fit Best best - Stretches or squashes image so no part of image is cropped.
  • Fit Outside outside - Stretches or squashes image so image fills viewer while constraining it's proportions. This often leads to part of image getting cropped by viewer.
  • Native Resolution nativeres - Displays the native resolution of the image in the viewer.

Viewer Smoothness filtertype - - This controls pixel filtering in the viewers.
  • Nearest Pixel nearest - Uses nearest pixel or accurate image representation. Images will look jaggy when viewing at any zoom level other than Native Resolution.
  • Interpolate Pixels linear - Uses linear filtering between pixels. Use this to get TOP images in viewers to look good at various zoom levels, especially useful when using any Fill Viewer setting other than Native Resolution.
  • Mipmap Pixels mipmap - Uses mipmap filtering when scaling images. This can be used to reduce artifacts and sparkling in moving/scaling images that have lots of detail. When the input is 32-bit float format, only nearest filtering will be used (regardless of what is selected).

Passes npasses - Duplicates the operation of the TOP the specified number of times. For every pass after the first it takes the result of the previous pass and replaces the node's first input with the result of the previous pass. One exception to this is the GLSL TOP when using compute shaders, where the input will continue to be the connected TOP's image.

Channel Mask chanmask - Allows you to choose which channels (R, G, B, or A) the TOP will operate on. All channels are selected by default.

Pixel Format format - - Format used to store data for each channel in the image (ie. R, G, B, and A). Refer to Pixel Formats for more information.
  • Use Input useinput - Uses the input's pixel format.
  • 8-bit fixed (RGBA) rgba8fixed - Uses 8-bit integer values for each channel.
  • sRGB 8-bit fixed (RGBA) srgba8fixed - Uses 8-bit integer values for each channel and stores color in sRGB colorspace. Note that this does not apply an sRGB curve to the pixel values, it only stores them using an sRGB curve. This means more data is used for the darker values and less for the brighter values. When the values are read downstream they will be converted back to linear. For more information refer to sRGB.
  • 16-bit float (RGBA) rgba16float - Uses 16-bits per color channel, 64-bits per pixel.
  • 32-bit float (RGBA) rgba32float - Uses 32-bits per color channel, 128-bits per pixels.
  • 10-bit RGB, 2-bit Alpha, fixed (RGBA) rgb10a2fixed - Uses 10-bits per color channel and 2-bits for alpha, 32-bits total per pixel.
  • 16-bit fixed (RGBA) rgba16fixed - Uses 16-bits per color channel, 64-bits total per pixel.
  • 11-bit float (RGB), Positive Values Only rgba11float - A RGB floating point format that has 11 bits for the Red and Green channels, and 10-bits for the Blue Channel, 32-bits total per pixel (therefore the same memory usage as 8-bit RGBA). The Alpha channel in this format will always be 1. Values can go above one, but can't be negative. ie. the range is [0, infinite).
  • 16-bit float (RGB) rgb16float -
  • 32-bit float (RGB) rgb32float -
  • 8-bit fixed (Mono) mono8fixed - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 8-bits per pixel.
  • 16-bit fixed (Mono) mono16fixed - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 16-bits per pixel.
  • 16-bit float (Mono) mono16float - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 16-bits per pixel.
  • 32-bit float (Mono) mono32float - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 32-bits per pixel.
  • 8-bit fixed (RG) rg8fixed - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 8-bits per channel, 16-bits total per pixel.
  • 16-bit fixed (RG) rg16fixed - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 16-bits per channel, 32-bits total per pixel.
  • 16-bit float (RG) rg16float - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 16-bits per channel, 32-bits total per pixel.
  • 32-bit float (RG) rg32float - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 32-bits per channel, 64-bits total per pixel.
  • 8-bit fixed (A) a8fixed - An Alpha only format that has 8-bits per channel, 8-bits per pixel.
  • 16-bit fixed (A) a16fixed - An Alpha only format that has 16-bits per channel, 16-bits per pixel.
  • 16-bit float (A) a16float - An Alpha only format that has 16-bits per channel, 16-bits per pixel.
  • 32-bit float (A) a32float - An Alpha only format that has 32-bits per channel, 32-bits per pixel.
  • 8-bit fixed (Mono+Alpha) monoalpha8fixed - A 2 channel format, one value for RGB and one value for Alpha. 8-bits per channel, 16-bits per pixel.
  • 16-bit fixed (Mono+Alpha) monoalpha16fixed - A 2 channel format, one value for RGB and one value for Alpha. 16-bits per channel, 32-bits per pixel.
  • 16-bit float (Mono+Alpha) monoalpha16float - A 2 channel format, one value for RGB and one value for Alpha. 16-bits per channel, 32-bits per pixel.
  • 32-bit float (Mono+Alpha) monoalpha32float - A 2 channel format, one value for RGB and one value for Alpha. 32-bits per channel, 64-bits per pixel.


Info CHOP Channels

Extra Information for the ZED TOP can be accessed via an Info CHOP.

Specific ZED TOP Info Channels

  • vertical_fov - The physical vertical FOV of the camera, in degrees.


  • horizontal_fov - The physical horizontal FOV of the camera, in degrees.

Common TOP Info Channels

  • resx - Horizontal resolution of the TOP in pixels.
  • resy - Vertical resolution of the TOP in pixels.
  • aspectx - Horizontal aspect of the TOP.
  • aspecty - Vertical aspect of the TOP.
  • depth - Depth of 2D or 3D array if this TOP contains a 2D or 3D texture array.
  • gpu_memory_used - Total amount of texture memory used by this TOP.

Common Operator Info Channels

  • total_cooks - Number of times the operator has cooked since the process started.
  • cook_time - Duration of the last cook in milliseconds.
  • cook_frame - Frame number when this operator was last cooked relative to the component timeline.
  • cook_abs_frame - Frame number when this operator was last cooked relative to the absolute time.
  • cook_start_time - Time in milliseconds at which the operator started cooking in the frame it was cooked.
  • cook_end_time - Time in milliseconds at which the operator finished cooking in the frame it was cooked.
  • cooked_this_frame - 1 if operator was cooked this frame.
  • warnings - Number of warnings in this operator if any.
  • errors - Number of errors in this operator if any.


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