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  1. Home
  2. ZED CHOP

    ZED CHOP

    Summary

    NOTE

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

    The ZED CHOP reads positional and plane tracking from the ZED camera. It can additionally use a UV to find plane in the room, and return information about that plane such as it's size/orientation either relative to the camera, or the room itself.

    Additionally, the ZED CHOP can do skeleton tracking by enabling the 'Body Tracking' menu.

    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.

    PythonIcon.pngzedCHOP_Class


    Parameters - ZED Page

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

    Camera camera - Selects which ZED camera to use.

    Camera Transform cameratransform -

    Camera Transform resetcameratransform - Zeros out the current camera position, effectively makes the current position 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 initial 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.

    Pulse getplanepulse -

    Plane Reference Frame planereferenceframe - ⊞ - Controls if the panel coordinates will be given relative to the camera or the world.
    • World world -
    • Camera camera -

    Plane Point U planepointu - Sets the U coordinate of the point in the image to extract plane position.

    Plane Point V planepointv - Sets the V coordinate of the point in the image to extract plane position.

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

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

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

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

    Body Tracking bodytracking - ⊞ - Body tracking allows for tracking human skeletons that are found in the video frame. Each mode uses an AI model that will need to be trained one for your GPU. This will take several minutes, but only needs to be done once per model per machine, as long as the GPU isn't changed. For models where the 'Joint Mode' parameter is disabled, the outputs will be 'Absolute'.
    • Off off - Body Tracking is disabled.
    • Skeleton - 18 Joints skeleton18 - Tracks an 18 joint skeleton as described in this article.
    • Skeleton - 34 Joints skeleton34 - Tracks an 34 joint skeleton as described in this article. The positions and rotations are relative to the parent joints, as described in that article, where the 0 joint is the 'root' joint.

    Max Bodies maxbodies - The maximum number of bodies that will be tracked.

    Body 3D body3d - Enable to output 3D positions. Rotations will be included if the Joint Mode is set to 'Relative'.

    Joint Mode jointmode - ⊞ - Controls if the joint values are given in absolute in scene or relative to each other.
    • Absolute Position absolute - Absolute XYZ positions of each in space, given in meters.
    • Relative, with Orientation relative - 3D skeleton positions and rotations in heriachical terms, each relative to a parent joint.

    Body 2D body2d - 2D normalized UV coordinates for each joint, giving their position within the image.

    Aspect Correct UVs aspectcorrectuv - Apply a correct to the UVs so they as aspect correct.


    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).


    Info CHOP Channels

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

    Common CHOP Info Channels

    • start - Start of the CHOP interval in samples.
    • length - Number of samples in the CHOP.
    • sample_rate - The samplerate of the channels in frames per second.
    • num_channels - Number of channels in the CHOP.
    • time_slice - 1 if CHOP is Time Slice enabled, 0 otherwise.
    • export_sernum - A count of how often the export connections have been updated.

    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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