The ZED CHOP reads positional and plane tracking from the ZED camera.

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

See also ZED TOP and ZED SOP.


Parameters - ZED Page

Active active - When 'On' data is captured from the ZED camera.

Camera camera - Selects which ZED camera to use.

Camera Position resetcameraposition - Zeros out the current camera position, effectively makes the current postion the new origin.

Plane Orientation planeorientation - Enables plane at point, which returns the position of the plane corresponding the UV coordinate.

Get Plane getplane - Returns the camera position relative to the intial position of the camera. A tx, ty, tz triplet of channels will be output for the position of the camera in meters. An rx, ry, rz triplet will be output for the orientation.

Reference Frame referenceframe - - Selects the reference frame for plane position.

  • World world - Plane position outputs are relative to the initial position of the camera.
  • Camera camera - Plane position is relative to the initial position of the camera.

U u - Sets the U coordinate of the point in the image to extract plane position.

V v - Sets the V coordinate of the point in the image to extract plane position.

Position planeposition - Returns tx, ty, and tz position channels of the center of the plane.

Rotation planerotation - Returns rx, ry, and rz rotation channels for the plane.

Normal planenormal - Returns nx, ny, and nz normal channels of the plane.

Size planesize - Returns size of the bounding rectangle of the plane.

Parameters - Common Page

Time Slice timeslice - Turning this on forces the channels to be "Time Sliced". A Time Slice is the time between the last cook frame and the current cook frame.

Scope scope - To determine which channels get affected, some CHOPs use a Scope string on the Common page.

Sample Rate Match srselect - - Handle cases where multiple input CHOPs' sample rates are different. When Resampling occurs, the curves are interpolated according to the Interpolation Method Option, or "Linear" if the Interpolate Options are not available.

  • Resample At First Input's Rate first - Use rate of first input to resample others.
  • Resample At Maximum Rate max - Resample to the highest sample rate.
  • Resample At Minimum Rate min - Resample to the lowest sample rate.
  • Error If Rates Differ err - Doesn't accept conflicting sample rates.

Export Method exportmethod - - This will determine how to connect the CHOP channel to the parameter. Refer to the Export article for more information.

  • DAT Table by Index datindex - Uses the docked DAT table and references the channel via the index of the channel in the CHOP.
  • DAT Table by Name datname - Uses the docked DAT table and references the channel via the name of the channel in the CHOP.
  • Channel Name is Path:Parameter autoname - The channel is the full destination of where to export to, such has geo1/transform1:tx.

Export Root autoexportroot - This path points to the root node where all of the paths that exporting by Channel Name is Path:Parameter are relative to.

Export Table exporttable - The DAT used to hold the export information when using the DAT Table Export Methods (See above).

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