color_enhancement: true # This parameter enhances color spreading on R/G/B channel and increase gamma correction on black areas for a better gray segmentation in black areas. stereo_topic_root: 'stereo' # default `stereo/image_rect_color`, `stereo/camera_info`, `stereo_raw/image_raw_color`, `stereo_raw/camera_info` right_topic_root: 'right' # default `right/image_rect_color`, `right/camera_info`, `right_raw/image_raw_color`, `right_raw/camera_info` left_topic_root: 'left' # default `left/image_rect_color`, `left/camera_info`, `left_raw/image_raw_color`, `left_raw/camera_info` rgb_topic_root: 'rgb' # default `rgb/image_rect_color`, `rgb/camera_info`, `rgb_raw/image_raw_color`, `rgb_raw/camera_info` self_calib: true # enable/disable self calibration at starting right_camera_optical_frame: 'zed_right_camera_optical_frame' # must be equal to the frame_id used in the URDF file right_camera_frame: 'zed_right_camera_frame' # must be equal to the frame_id used in the URDF file
left_camera_optical_frame: 'zed_left_camera_optical_frame' # must be equal to the frame_id used in the URDF file left_camera_frame: 'zed_left_camera_frame' # must be equal to the frame_id used in the URDF file camera_frame: 'zed_camera_center' # must be equal to the frame_id used in the URDF file base_frame: 'base_link' # must be equal to the frame_id used in the URDF file It is technically possible to stick the rects to a surface, but that is much more complicated.- point_cloud_freq: 10.0 # Dynamic - frequency of the pointcloud publishing (equal or less to `frame_rate` value) If you point the camera to the sky, the rectangles will still be there. Note that the rectangles are drawn to the screen - not to a surface. Rectangles.append(((x1_bounding_box,y1_bounding_box),(x2_bounding_box,y2_bounding_box)))Įach frame, draw all rectangles before displaying the image for p1, p2 in rectangles:Ĭv2.rectangle(rgb_color_image,p1,p2,(0,255,0),3)
Zed camera get depth map value python code#
Remove that code if you intend to track something across the screen. A rectangle is only added on the first frame something is in range. Use the detected variable to prevent adding a rectangle on the same location every frame. When the distance is small enough, add the coordinates of the rectangle to the list - use a tuple. This seems to be what you are asking, but it might not behave as you intend.Īlso add a boolean variable (optional - see below) rectangles =
So enough of rectangles here is my code: Thank you very much 0:Ĭv2.rectangle(rgb_color_image,(x1_bounding_box,y1_bounding_box),(x2_bounding_box,y2_bounding_box),(0,255,0),3)Ĭv2.imshow("RGB Stream", rgb_color_image) So at the end i want to have a lof of recangles.
I know why (of course )) but how can i "fix" my rectangle on that position forever. I programmed a if-statement which draws the rectangle at the right moment but if the next frame comes and the if-statement ist not fullfilled anymore my recangle disappers. My problem is the video is proccessed frame after frame in a loop. I need to draw a rectangle everytime the distance between my camera and the floor is under a certain value.
I have a Video from a Intel Realsense Cam with depth information.
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