Difference between revisions of "ZED TOP"

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|itemSummary=
 
|itemSummary=
 
|itemLabel=Left
 
|itemLabel=Left
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|parName=perspective
 
|parName=perspective
 
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|itemSummary=Uses the RGB image from the camera.
 
|itemSummary=Uses the RGB image from the camera.
 
|itemLabel=Color
 
|itemLabel=Color
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}}{{ParameterItem|opFamily=TOP
-->{{ParameterItem|opFamily=TOP
 
 
|parName=image
 
|parName=image
 
|itemName=depth
 
|itemName=depth
 
|itemSummary=Textures where the value of the pixel is the distance in meters from the camera.
 
|itemSummary=Textures where the value of the pixel is the distance in meters from the camera.
 
|itemLabel=Depth
 
|itemLabel=Depth
}}
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}}{{ParameterItem|opFamily=TOP
        {{ParameterItem|opFamily=TOP
 
 
|parName=image
 
|parName=image
 
|itemName=confidence
 
|itemName=confidence
 
|itemSummary=Gives the confidence/certainty of the depth map ranging from 0-1.
 
|itemSummary=Gives the confidence/certainty of the depth map ranging from 0-1.
 
|itemLabel=Confidence
 
|itemLabel=Confidence
}}<!--
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}}{{ParameterItem|opFamily=TOP
-->{{ParameterItem|opFamily=TOP
 
 
|parName=image
 
|parName=image
 
|itemName=disparity
 
|itemName=disparity
 
|itemSummary=Uses the disparity map from the camera.
 
|itemSummary=Uses the disparity map from the camera.
 
|itemLabel=Disparity
 
|itemLabel=Disparity
}}<!--
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}}{{ParameterItem|opFamily=TOP
-->{{ParameterItem|opFamily=TOP
 
 
|parName=image
 
|parName=image
 
|itemName=normals
 
|itemName=normals
 
|itemSummary=Each RGB pixel of the texture gives the XYZ pixel normal in meters.
 
|itemSummary=Each RGB pixel of the texture gives the XYZ pixel normal in meters.
 
|itemLabel=Normals
 
|itemLabel=Normals
}}
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}}{{ParameterItem|opFamily=TOP
        {{ParameterItem|opFamily=TOP
 
 
|parName=image
 
|parName=image
 
|itemName=pointcloud
 
|itemName=pointcloud
 
|itemSummary=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.
 
|itemSummary=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.
 
|itemLabel=Point Cloud
 
|itemLabel=Point Cloud
}}
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}}{{ParameterItem|opFamily=TOP
        {{ParameterItem|opFamily=TOP
 
 
|parName=image
 
|parName=image
 
|itemName=spatialtexture
 
|itemName=spatialtexture
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|itemSummary=Balanced quality mode requiring more resources.
 
|itemSummary=Balanced quality mode requiring more resources.
 
|itemLabel=Medium
 
|itemLabel=Medium
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}}{{ParameterItem|opFamily=TOP
-->{{ParameterItem|opFamily=TOP
 
 
|parName=depthmode
 
|parName=depthmode
 
|itemName=quality
 
|itemName=quality
 
|itemSummary=Uses high quality depth map.
 
|itemSummary=Uses high quality depth map.
 
|itemLabel=Quality
 
|itemLabel=Quality
}}
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}}{{ParameterItem|opFamily=TOP
        {{ParameterItem|opFamily=TOP
 
 
|parName=depthmode
 
|parName=depthmode
 
|itemName=ultra
 
|itemName=ultra

Latest revision as of 11:27, 19 June 2019

Summary
[edit]

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 RGB. For use in making point clouds renders.

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.  

Camera camera - Selects which ZED camera to use.  

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 camerares - - 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.
  • Fill fill - Uses depth map that is smooth and fully dense.

Depth Mode depthmode - - Selects the depth computation mode of the camera.

  • Performance performance - Uses minimal resources for computation.
  • Medium medium - Balanced quality mode requiring more resources.
  • Quality quality - Uses high quality depth map.
  • Ultra ultra - Uses highest quality depth map.

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

Maximum Depth maxdepth - Sets the maximum depth in meters.  

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.

Depth Stabilization depthstabilization - Enables depth stabilization for the camera.  

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

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

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

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

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


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 -  

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 -  

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.

TouchDesigner Build:

TOPs
Add • Analyze • Anti Alias • Blob Track • Blur • Experimental:Buffer Select • Cache Select • Cache • Channel Mix • CHOP to • Experimental:CHOP to • Chroma Key • Circle • Composite • Constant • Convolve • Corner Pin • CPlusPlus • Crop • Cross • Cube Map • Depth • Difference • DirectX In • DirectX Out • Displace • Edge • Emboss • Feedback • Fit • Flip • Experimental:Function • GLSL Multi • GLSL • HSV Adjust • HSV to RGB • Import Select • In • Inside • Introduction To TOPs id • Kinect • Layout • Leap Motion • Level • Lookup • Luma Blur • Luma Level • Math • Experimental:Math • Matte • Mirror • Monochrome • Movie File In • Movie File Out • Multiply • NDI In • NDI Out • Noise • Normal Map • Notch • Null • Nvidia Flow • Oculus Rift • OP Viewer • OpenColorIO • OpenVR • Experimental:Ouster Select • Experimental:Ouster • Out • Outside • Over • Pack • Photoshop In • Experimental:Point Cloud In • Experimental:Point File Select • PreFilter Map • Projection • Ramp • RealSense • Rectangle • Remap • Render Pass • Render Select • Render • Reorder • Resolution • RGB Key • RGB to HSV • Scalable Display • Screen Grab • Screen • Select • Shared Mem In • Shared Mem Out • Slope • SSAO • Stype • Substance Select • Substance • Subtract • SVG • Switch • Syphon Spout In • Syphon Spout Out • Text • Texture 3D • Texture Sampling arameters • Threshold • Tile • Time Machine • TOP • TOP iewer • Touch In • Touch Out • Transform • Under • Video Device In • Experimental:Video Device In • Video Device Out • Experimental:Video Device Out • Video Stream In • Video Stream Out • Vioso • Web Render • ZED

An Operator Family that creates, composites and modifies images, and reads/writes images and movies to/from files and the network. TOPs run on the graphics card's GPU.

Each SOP has a list of Points. Each point has an XYZ 3D position value plus other optional attributes. Each polygon Primitive is defined by a vertex list, which is list of point numbers.

An Operator Family that reads, creates and modifies 3D polygons, curves, NURBS surfaces, spheres, meatballs and other 3D surface data.

The width and height of an image in pixels. Most TOPs, like the Movie File In TOP can set the image resolution. See Aspect Ratio for the width/height ratio of an image, taking into account non-square pixels.

The frame rate that TouchDesigner's Timeline uses. Equal to the Frames per Second value project.cookRate.

A Link.

The term "Frame" is used (1) in the Timeline, (2) as a time-unit in CHOPs, (3) as a time-unit in TOPs, and (4) with movies images which are read and created with TOPs.

The viewer of a node can be (1) the interior of a node (the Node Viewer), (2) a floating window (RMB->View... on node), or (3) a Pane that graphically shows the results of an operator.

A CHOP outputs one or more channels, where a channel is simply a sequence of numbers, representing motion, audio, etc. Channels are passed between CHOPs in TouchDesigner networks. See also Export.