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.
# Positional tracking needs to be enabled before using spatial mapping
py_transform = core.PyTransform()
tracking_parameters = zcam.PyTrackingParameters(init_pos=py_transform)
err = zed.enable_tracking(tracking_parameters)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Enable spatial mapping
mapping_parameters = zcam.PySpatialMappingParameters()
err = zed.enable_spatial_mapping(mapping_parameters)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Grab data during 500 frames
i = 0
py_mesh = mesh.PyMesh() # Create a PyMesh object
while i < 500:
# For each new grab, mesh data is updated
if zed.grab(zcam.PyRuntimeParameters()) == tp.PyERROR_CODE.PySUCCESS:
# In the background, spatial mapping will use newly retrieved images, depth and pose to update the mesh
mapping_state = zed.get_spatial_mapping_state()
print("\rImages captured: {0} / 500 || {1}".format(
i, mapping_state))
i = i + 1
print("\n")
# Extract, filter and save the mesh in an obj file
print("Extracting Mesh...\n")
zed.extract_whole_mesh(py_mesh)
print("Filtering Mesh...\n")
py_mesh.filter(mesh.PyMeshFilterParameters()
) # Filter the mesh (remove unnecessary vertices and faces)
print("Saving Mesh...\n")
py_mesh.save("mesh.obj")
# Disable tracking and mapping and close the camera
zed.disable_spatial_mapping()
zed.disable_tracking()
zed.close()
def main():
if len(sys.argv) != 2:
print("Please specify path to .svo file.")
exit()
filepath = sys.argv[1]
print("Reading SVO file: {0}".format(filepath))
cam = zcam.PyZEDCamera()
init = zcam.PyInitParameters(svo_input_filename=filepath)
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
runtime = zcam.PyRuntimeParameters()
spatial = zcam.PySpatialMappingParameters()
transform = core.PyTransform()
tracking = zcam.PyTrackingParameters(transform)
cam.enable_tracking(tracking)
cam.enable_spatial_mapping(spatial)
pymesh = mesh.PyMesh()
print("Processing...")
for i in range(200):
cam.grab(runtime)
cam.request_mesh_async()
cam.extract_whole_mesh(pymesh)
cam.disable_tracking()
cam.disable_spatial_mapping()
filter_params = mesh.PyMeshFilterParameters()
filter_params.set(mesh.PyFILTER.PyFILTER_HIGH)
print("Filtering params : {0}.".format(pymesh.filter(filter_params)))
apply_texture = pymesh.apply_texture(
mesh.PyMESH_TEXTURE_FORMAT.PyMESH_TEXTURE_RGBA)
print("Applying texture : {0}.".format(apply_texture))
print_mesh_information(pymesh, apply_texture)
save_filter(filter_params)
save_mesh(pymesh)
cam.close()
print("\nFINISH")
pipeline.process(frame)
print pipeline.boundingRects
print pipeline.center
# Press Q on keyboard to exit
if cv2.waitKey(25) & 0xFF == ord('q'):
break
#Break the loop
else:
break
"""
print("============Vision Active=============")
while streamRunning:
if temp == 30:
mapping_parameters = zcam.PySpatialMappingParameters()
err = cam.enable_spatial_mapping(mapping_parameters)
if err != tp.PyERROR_CODE.PySUCCESS:
print("Spatial Mapping Failed")
failed = 1
if err == tp.PyERROR_CODE.PySUCCESS:
print("Spatial Mapping Initalized")
failed = 0
if failed == 1:
mapping_parameters = zcam.PySpatialMappingParameters()
err = cam.enable_spatial_mapping(mapping_parameters)
if err != tp.PyERROR_CODE.PySUCCESS:
print("Spatial Mapping Failed")
failed = 1
if err == tp.PyERROR_CODE.PySUCCESS:
print("Spatial Mapping Initalized")