def main():
init = zcam.PyInitParameters(
camera_resolution=sl.PyRESOLUTION.PyRESOLUTION_HD720,
depth_mode=sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE,
coordinate_units=sl.PyUNIT.PyUNIT_METER,
coordinate_system=sl.PyCOORDINATE_SYSTEM.
PyCOORDINATE_SYSTEM_RIGHT_HANDED_Y_UP,
sdk_verbose=True)
cam = zcam.PyZEDCamera()
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
transform = core.PyTransform()
tracking_params = zcam.PyTrackingParameters(transform)
cam.enable_tracking(tracking_params)
runtime = zcam.PyRuntimeParameters()
camera_pose = zcam.PyPose()
viewer = tv.PyTrackingViewer()
viewer.init()
py_translation = core.PyTranslation()
start_zed(cam, runtime, camera_pose, viewer, py_translation)
viewer.exit()
glutMainLoop()
def initZed(fps):
# Create a PyZEDCamera object
zed = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
init_params = zcam.PyInitParameters()
init_params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD1080 # Use HD1080 video mode
init_params.camera_fps = fps # Set fps at 30
# Use a right-handed Y-up coordinate system
init_params.coordinate_system = sl.PyCOORDINATE_SYSTEM.PyCOORDINATE_SYSTEM_RIGHT_HANDED_Y_UP
init_params.coordinate_units = sl.PyUNIT.PyUNIT_METER # Set units in meters
# Open the camera
err = zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Enable positional tracking with default parameters
py_transform = core.PyTransform(
) # First create a PyTransform object for PyTrackingParameters object
tracking_parameters = zcam.PyTrackingParameters(init_pos=py_transform)
err = zed.enable_tracking(tracking_parameters)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
image = core.PyMat()
zed_pose = zcam.PyPose()
return zed, image, zed_pose
def __init__(self, inputQueue, outputQueue, visualize):
self.inputQueue = inputQueue
self.outputQueue = outputQueue
#self.outputQueueImages = outputQueueImages
self.visualize = visualize
self.xlist = []
self.ylist = []
if (self.visualize):
plt.figure(1)
init = zcam.PyInitParameters(
camera_resolution=sl.PyRESOLUTION.PyRESOLUTION_VGA,
depth_mode=sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE,
coordinate_units=sl.PyUNIT.PyUNIT_METER,
coordinate_system=sl.PyCOORDINATE_SYSTEM.
PyCOORDINATE_SYSTEM_RIGHT_HANDED_Y_UP,
sdk_verbose=False)
cam = zcam.PyZEDCamera()
self.image = core.PyMat()
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
transform = core.PyTransform()
tracking_params = zcam.PyTrackingParameters(transform)
cam.enable_tracking(tracking_params)
runtime = zcam.PyRuntimeParameters()
camera_pose = zcam.PyPose()
py_translation = core.PyTranslation()
print("Starting ZEDPositioning")
self.start_zed(cam, runtime, camera_pose, py_translation)
def main():
# Create a PyZEDCamera object
zed = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
init_params = zcam.PyInitParameters()
init_params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD720 # Use HD720 video mode (default fps: 60)
# Use a right-handed Y-up coordinate system
init_params.coordinate_system = sl.PyCOORDINATE_SYSTEM.PyCOORDINATE_SYSTEM_RIGHT_HANDED_Y_UP
init_params.coordinate_units = sl.PyUNIT.PyUNIT_METER # Set units in meters
# Open the camera
err = zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Enable positional tracking with default parameters
py_transform = core.PyTransform(
) # First create a PyTransform object for PyTrackingParameters object
tracking_parameters = zcam.PyTrackingParameters(init_pos=py_transform)
err = zed.enable_tracking(tracking_parameters)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Track the camera position during 1000 frames
i = 0
zed_pose = zcam.PyPose()
runtime_parameters = zcam.PyRuntimeParameters()
while i < 1000:
if zed.grab(runtime_parameters) == tp.PyERROR_CODE.PySUCCESS:
# Get the pose of the left eye of the camera with reference to the world frame
zed.get_position(zed_pose,
sl.PyREFERENCE_FRAME.PyREFERENCE_FRAME_WORLD)
# Display the translation and timestamp
py_translation = core.PyTranslation()
tx = round(zed_pose.get_translation(py_translation).get()[0], 3)
ty = round(zed_pose.get_translation(py_translation).get()[1], 3)
tz = round(zed_pose.get_translation(py_translation).get()[2], 3)
print("Translation: Tx: {0}, Ty: {1}, Tz {2}, Timestamp: {3}\n".
format(tx, ty, tz, zed_pose.timestamp))
# Display the orientation quaternion
py_orientation = core.PyOrientation()
ox = round(zed_pose.get_orientation(py_orientation).get()[0], 3)
oy = round(zed_pose.get_orientation(py_orientation).get()[1], 3)
oz = round(zed_pose.get_orientation(py_orientation).get()[2], 3)
ow = round(zed_pose.get_orientation(py_orientation).get()[3], 3)
print("Orientation: Ox: {0}, Oy: {1}, Oz {2}, Ow: {3}\n".format(
ox, oy, oz, ow))
i = i + 1
# Close the camera
zed.close()
def enable_tracking(self, init_vector=(0.0, 0.0, 0.0), load_area=False):
params = default_tracking_params()
if load_area is not False: params.area_file_path = load_area
self.overall_status = self.camera.enable_tracking(params)
# enables tracking and updates overall_status at the same time
translation = core.PyTranslation()
translation.init_vector(init_vector[0], init_vector[1],
init_vector[2]) # X, Y, Z
transform = core.PyTransform()
transform.set_translation(translation)
params.set_initial_world_transform(transform)
# sets position equal to coordinates in init_vector
# TODO TODO TODO self.transformer = rigid_pose_transform((-init_vector[0], -init_vector[1], -init_vector[2]))
# saves function that transforms poses such that they ignore the init_vector
self.pose = zcam.PyPose()
self.tracking_status = 'Enabled'
print(repr(status))
streamRunning = False
exit(1)
#print("Sleeping for 5 seconds...")
#time.sleep(5)
mat = core.PyMat()
py_transform = core.PyTransform()
tracking_parameters = zcam.PyTrackingParameters(init_pos=py_transform)
err = cam.enable_tracking(tracking_parameters)
if err != tp.PyERROR_CODE.PySUCCESS:
print("Positional Tracking Failed")
zed_pose = zcam.PyPose()
zed_imu = zcam.PyIMUData()
py_mesh = mesh.PyMesh() # Create a PyMesh object
cam.set_camera_settings(sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_EXPOSURE, 60)
current_value = cam.get_camera_settings(
sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_EXPOSURE)
print("Exposure: " + str(current_value))
print_camera_information(cam)
now = datetime.datetime.now()
print("Vision Log for " + str(now.day) + "/" + str(now.month) + "/" +
str(now.year) + " ~ " + str(now.hour) + ":" + str(now.minute) + ":" +
str(now.second))
print("OpenCV version: " + str(cv2.__version__))