Samples: Fix transform_point_cloud_via_checkerboard.py

Correctly index the projected points from the returned tuple of
`cv2.projectPoints()`.

Also removes temporary installation steps for SDK 2.13, as newest
version is uploaded to PyPI.

continuous-integration/setup.sh

@@ -14,7 +14,6 @@ apt-yes dist-upgrade || exit
 
 apt-yes install \
     python3-pip \
-    cmake \
     wget ||
     exit $?
 
@@ -32,8 +31,6 @@ function install_www_deb {
 install_www_deb "https://downloads.zivid.com/sdk/releases/2.13.1+18e79e79-1/u${VERSION_ID:0:2}/zivid_2.13.1+18e79e79-1_amd64.deb" || exit
 
 python3 -m pip install --upgrade pip || exit
-python3 -m pip install conan || exit
 python3 -m pip install --requirement "$ROOT_DIR/requirements.txt" || exit
-python3 -m pip install https://github.com/zivid/zivid-python/releases/download/v2.13.1.2.13.1/zivid-2.13.1.2.13.1.tar.gz || exit
 
 echo Success! ["$(basename $0)"]

requirements.txt

@@ -4,4 +4,5 @@ open3d
 opencv-python
 pyyaml
 robodk
-scipy
+scipy
+zivid

source/applications/advanced/transform_point_cloud_via_checkerboard.py

@@ -114,7 +114,9 @@ def _get_coordinate_system_points(
     z_axis_direction = _move_point(origin_position, np.array([0.0, 0.0, size_of_axis]), checkerboard_pose)
 
     points_to_project = np.array([origin_position, x_axis_direction, y_axis_direction, z_axis_direction])
-    projected_points = cv2.projectPoints(points_to_project, np.zeros(3), np.zeros(3), cv_camera_matrix, cv_dist_coeffs)
+    projected_points = cv2.projectPoints(points_to_project, np.zeros(3), np.zeros(3), cv_camera_matrix, cv_dist_coeffs)[
+        0
+    ]
 
     projected_points = projected_points.reshape(-1, 2)
     return {