"""

Capture colored point cloud, save 2D image, save 3D ZDF, and export PLY, using the Zivid camera.

"""

import zivid

def _main() -> None:

app = zivid.Application()

print("Connecting to camera")

camera = app.connect_camera()

print("Creating default capture settings")

settings = zivid.Settings(

acquisitions=[zivid.Settings.Acquisition()],

color=zivid.Settings2D(acquisitions=[zivid.Settings2D.Acquisition()]),

)

print("Capturing frame")

frame = camera.capture_2d_3d(settings)

image_rgba = frame.frame_2d().image_rgba_srgb()

image_file = "ImageRGBA.png"

print(f"Saving 2D color image (sRGB color space) to file: {image_file}")

image_rgba.save(image_file)

data_file = "Frame.zdf"

print(f"Saving frame to file: {data_file}")

frame.save(data_file)

data_file_ply = "PointCloud.ply"

print(f"Exporting point cloud to file: {data_file_ply}")

frame.save(data_file_ply)

if __name__ == "__main__":

_main()