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 _start(self):
# Open the camera
if self.available():
return True
# Create a PyInitParameters object and set configuration parameters
init_params = zcam.PyInitParameters()
init_params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD720 # Use 2K video mode
# init_params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD1080 # Use HD1080 video mode
# init_params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD720
# init_params.camera_fps = 10 # 30 is default
# init_params.enable_right_side_measure = True
init_params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_QUALITY
init_params.coordinate_units = sl.PyUNIT.PyUNIT_MILLIMETER
init_params.depth_minimum_distance = 300 # 300mm, 30cm
err = self.zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
print("We failed to open the ZED camera, exit!")
# exit(1)
return False
time.sleep(4)
self._set_default_camera_settings()
self.camera_settings_value = self.getParameters()
K1, K2 = self.get_camera_parameters()
K1 = np.array(K1).astype(np.float32).reshape(3, 3)
K2 = np.array(K2).astype(np.float32).reshape(3, 3)
self.cameraCalibration = CameraCalibration(leftK=K1, rightK=K2)
return True
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 main():
print("Running...")
init = zcam.PyInitParameters()
cam = zcam.PyZEDCamera()
if not cam.is_opened():
print("Opening ZED Camera...")
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
runtime = zcam.PyRuntimeParameters()
mat = core.PyMat()
print_camera_information(cam)
print_help()
key = ''
while key != 113: # for 'q' key
err = cam.grab(runtime)
if err == tp.PyERROR_CODE.PySUCCESS:
cam.retrieve_image(mat, sl.PyVIEW.PyVIEW_LEFT)
cv2.imshow("ZED", mat.get_data())
key = cv2.waitKey(5)
settings(key, cam, runtime, mat)
else:
key = cv2.waitKey(5)
cv2.destroyAllWindows()
cam.close()
print("\nFINISH")
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 init_zed(self):
# Create a PyZEDCamera object
zed = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
init_params = zcam.PyInitParameters()
init_params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_QUALITY # Use PERFORMANCE depth mode
init_params.coordinate_units = sl.PyUNIT.PyUNIT_METER # Use milliliter units (for depth measurements)
init_params.camera_fps = 30
init_params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD1080
init_params.depth_minimum_distance = 0.3
init_params.coordinate_system = sl.PyCOORDINATE_SYSTEM.PyCOORDINATE_SYSTEM_IMAGE
# Open the camera
err = zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Create and set PyRuntimeParameters after opening the camera
self.runtime_parameters = zcam.PyRuntimeParameters()
self.runtime_parameters.sensing_mode = sl.PySENSING_MODE.PySENSING_MODE_FILL # Use STANDARD sensing mode
image = core.PyMat()
depth = core.PyMat()
point_cloud = core.PyMat()
return zed, image, depth, point_cloud
def main():
print("Running...")
init = zcam.PyInitParameters()
init.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE
init.coordinate_units = sl.PyUNIT.PyUNIT_CENTIMETER
cam = zcam.PyZEDCamera()
if not cam.is_opened():
print("Opening ZED Camera...")
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
print('error opening camera!! abort abort')
exit()
runtime = zcam.PyRuntimeParameters()
mat = core.PyMat()
print_camera_information(cam)
key = ''
while key != 113: # for 'q' key
err = cam.grab(runtime)
if err == tp.PyERROR_CODE.PySUCCESS:
cam.retrieve_image(mat, sl.PyVIEW.PyVIEW_DEPTH)
cv2.imshow("ZED", mat.get_data())
key = cv2.waitKey(5)
# settings(key, cam, runtime, mat)
else:
key = cv2.waitKey(5)
cv2.destroyAllWindows()
cam.close()
print("\nFINISH")
def __init__(self, model_path):
print('[INFO] Capture: Setting up camera.')
# Create a PyZEDCamera object
self.zed = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
init_params = zcam.PyInitParameters()
init_params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE # Use PERFORMANCE depth mode
init_params.coordinate_units = sl.PyUNIT.PyUNIT_MILLIMETER # Use milliliter units (for depth measurements)
# Open the camera
err = self.zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Create and set PyRuntimeParameters after opening the camera
self.runtime_parameters = zcam.PyRuntimeParameters()
self.runtime_parameters.sensing_mode = sl.PySENSING_MODE.PySENSING_MODE_STANDARD # Use STANDARD sensing mode
i = 0 #counter
self.image = core.PyMat()
print('[INFO] Capture: Camera setup complete.')
print('[INFO] Capture: Setting up model...')
# load model once
self.model = load_model(model_path) #TODO hard code model
print('[INFO] Capture: Model loaded successfully.')
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_HD1080 # Use HD1080 video mode
init_params.camera_fps = 30 # Set fps at 30
# Open the camera
err = zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Capture 50 frames and stop
i = 0
image = core.PyMat()
while i < 50:
# Grab an image, a PyRuntimeParameters object must be given to grab()
if zed.grab(zcam.PyRuntimeParameters()) == tp.PyERROR_CODE.PySUCCESS:
# A new image is available if grab() returns PySUCCESS
zed.retrieve_image(image, sl.PyVIEW.PyVIEW_LEFT)
timestamp = zed.get_timestamp(sl.PyTIME_REFERENCE.PyTIME_REFERENCE_CURRENT) # Get the timestamp at the time the image was captured
print("Image resolution: {0} x {1} || Image timestamp: {2}\n".format(image.get_width(), image.get_height(),
timestamp))
i = i + 1
# Close the camera
zed.close()
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 distance():
# Create a PyZEDCamera object
zed = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
init_params = zcam.PyInitParameters()
init_params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE # Use PERFORMANCE depth mode
init_params.coordinate_units = sl.PyUNIT.PyUNIT_MILLIMETER # Use milliliter units (for depth measurements)
# Open the camera
err = zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Create and set PyRuntimeParameters after opening the camera
runtime_parameters = zcam.PyRuntimeParameters()
runtime_parameters.sensing_mode = sl.PySENSING_MODE.PySENSING_MODE_STANDARD # Use STANDARD sensing mode
# runtime_parameters.sensing_mode = sl.PySENSING_MODE.PySENSING_MODE_LAST # Use STANDARD sensing mode
# Capture 50 images and depth, then stop
i = 0
image = core.PyMat()
depth = core.PyMat()
point_cloud = core.PyMat()
while i < 500:
# A new image is available if grab() returns PySUCCESS
if zed.grab(runtime_parameters) == tp.PyERROR_CODE.PySUCCESS:
# Retrieve left image
zed.retrieve_image(image, sl.PyVIEW.PyVIEW_LEFT)
# Retrieve depth map. Depth is aligned on the left image
zed.retrieve_measure(depth, sl.PyMEASURE.PyMEASURE_DEPTH)
# Retrieve colored point cloud. Point cloud is aligned on the left image.
zed.retrieve_measure(point_cloud, sl.PyMEASURE.PyMEASURE_XYZRGBA)
# Get and print distance value in mm at the center of the image
# We measure the distance camera - object using Euclidean distance
x = round(image.get_width() / 2)
y = round(image.get_height() / 2)
err, point_cloud_value = point_cloud.get_value(x, y)
distance = math.sqrt(point_cloud_value[0] * point_cloud_value[0] +
point_cloud_value[1] * point_cloud_value[1] +
point_cloud_value[2] * point_cloud_value[2])
if not np.isnan(distance) and not np.isinf(distance):
distance = round(distance)
print("Distance to Camera at ({0}, {1}): {2} mm\n".format(
x, y, distance))
# Increment the loop
i = i + 1
else:
print(
"Can't estimate distance at this position, move the camera\n"
)
sys.stdout.flush()
# Close the camera
zed.close()
def detect_video(yolo):
zed = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
init_params = zcam.PyInitParameters()
init_params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD720
init_params.camera_fps = 60
init_params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE # Use PERFORMANCE depth mode
init_params.coordinate_units = sl.PyUNIT.PyUNIT_MILLIMETER # Use milliliter units (for depth measurements)
# Open the camera
err = zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
frame = core.PyMat()
# Create and set PyRuntimeParameters after opening the camera
runtime_parameters = zcam.PyRuntimeParameters()
runtime_parameters.sensing_mode = sl.PySENSING_MODE.PySENSING_MODE_STANDARD # Use STANDARD sensing mode
accum_time = 0
curr_fps = 0
fps = "FPS: ??"
prev_time = timer()
while True:
if zed.grab(runtime_parameters) == tp.PyERROR_CODE.PySUCCESS:
# A new image is available if grab() returns PySUCCESS
zed.retrieve_image(frame, sl.PyVIEW.PyVIEW_LEFT)
image = Image.fromarray(frame.get_data())
image, voc_detections = detect_img(yolo, image.copy(), video=True)
result = np.asarray(image)
curr_time = timer()
exec_time = curr_time - prev_time
prev_time = curr_time
accum_time = accum_time + exec_time
curr_fps = curr_fps + 1
if accum_time > 1:
accum_time = accum_time - 1
fps = "FPS: " + str(curr_fps)
curr_fps = 0
cv2.putText(result,
text=fps,
org=(3, 15),
fontFace=cv2.FONT_HERSHEY_SIMPLEX,
fontScale=0.50,
color=(255, 0, 0),
thickness=2)
cv2.namedWindow("result", cv2.WINDOW_NORMAL)
cv2.imshow("result", result)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
def main():
print("Running...")
init = zcam.PyInitParameters()
init.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_QUALITY
init.coordinate_units = sl.PyUNIT.PyUNIT_CENTIMETER
cam = zcam.PyZEDCamera()
if not cam.is_opened():
print("Opening ZED Camera...")
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
print('error opening camera!! abort abort')
exit()
runtime = zcam.PyRuntimeParameters()
mat = core.PyMat()
thresholdMat = core.PyMat()
print_camera_information(cam)
'''
python OpenCV Code
img = cv.imread('gradient.png',0)
ret,thresh1 = cv.threshold(img,127,255,cv.THRESH_BINARY)
ret,thresh2 = cv.threshold(img,127,255,cv.THRESH_BINARY_INV)
ret,thresh3 = cv.threshold(img,127,255,cv.THRESH_TRUNC)
ret,thresh4 = cv.threshold(img,127,255,cv.THRESH_TOZERO)
ret,thresh5 = cv.threshold(img,127,255,cv.THRESH_TOZERO_INV)
titles = ['Original Image','BINARY','BINARY_INV','TRUNC','TOZERO','TOZERO_INV']
images = [img, thresh1, thresh2, thresh3, thresh4, thresh5]
'''
'''
# need gray image for near / far
grayImage.allocate(kinect.width, kinect.height);
grayThreshNear.allocate(kinect.width, kinect.height);
grayThreshFar.allocate(kinect.width, kinect.height);
'''
key = ''
while key != 113: # for 'q' key
err = cam.grab(runtime)
if err == tp.PyERROR_CODE.PySUCCESS:
cam.retrieve_image(mat, sl.PyVIEW.PyVIEW_DEPTH)
thresholdMat = cv2.threshold(mat.get_data(), 128, 255,
cv2.THRESH_BINARY)
cv2.imshow("ZED", thresholdMat)
key = cv2.waitKey(5)
# settings(key, cam, runtime, mat)
else:
key = cv2.waitKey(5)
cv2.destroyAllWindows()
cam.close()
print("\nFINISH")
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 initCam():
#myCam = cv2.VideoCapture(0) # Other camera than ZED
myCam = zcam.PyZEDCamera() # only for ZED camera
if not myCam.is_opened():
print("Opening ZED Camera...")
init = zcam.PyInitParameters()
status = myCam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
return myCam
def ZED_live():
zed = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
init_params = zcam.PyInitParameters()
init_params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD720
init_params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE # 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_MILLIMETER # Set units in meters
err = zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
return zed, zcam.PyRuntimeParameters()
def main():
init = zcam.PyInitParameters()
cam = zcam.PyZEDCamera()
if cam.is_opened():
pass
else:
print("Opening ZED Camera...")
init.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD1080
status = cam.open(init)
cam.set_camera_settings(sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_AUTO_WHITEBALANCE, 1, False)
if status == tp.PyERROR_CODE.PySUCCESS:
pass
else:
print(repr(status))
exit()
runtime = zcam.PyRuntimeParameters()
mat = core.PyMat()
# make save directory of images
cwd = os.getcwd()
dir_name = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
dir_path = cwd + "/" + dir_name
if os.path.exists(dir_path):
pass
else:
os.makedirs(dir_path)
key = ''
count = 0
while key != 113:
err = cam.grab(runtime)
if err == tp.PyERROR_CODE.PySUCCESS:
cam.retrieve_image(mat, sl.PyVIEW.PyVIEW_LEFT)
img = mat.get_data()
cv2.imshow("ZED", img)
file_name = ("image_{0:08d}.jpg".format(count))
cv2.imwrite(dir_path + "/" + file_name, img)
count = count + 1
key = cv2.waitKey(10)
else:
key = cv2.waitKey(10)
cv2.destroyAllWindows()
cam.close()
print("\nFINISH")
def default_init_params():
params = zcam.PyInitParameters() # creates a place to store params
params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD720
params.camera_fps = 60
# options are HD2K (15fps), HD1080 (max 30fps), HD720 (max 60fps), WVGA (max 100fps)
params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE
# options are NONE, PERFORMANCE, MEDIUM, QUALITY, ULTRA
params.depth_stabilization = True
params.depth_minimum_distance = 7
# less than 10, lower numbers increase grab() time
params.coordinate_system = sl.PyCOORDINATE_SYSTEM.PyCOORDINATE_SYSTEM_RIGHT_HANDED_Z_UP
params.coordinate_units = sl.PyUNIT.PyUNIT_FOOT
# options are MILLIMETER, CENTIMETER, METER, INCH, FOOT
return params
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))
init = zcam.PyInitParameters(svo_input_filename=filepath,
svo_real_time_mode=False)
cam = zcam.PyZEDCamera()
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
runtime = zcam.PyRuntimeParameters()
mat = core.PyMat()
#if a directory doesn't already exist, create one
save_dir = "".join(filepath.split('.')[:-1])
if not os.path.exists(save_dir):
os.makedirs(save_dir)
img_num = 0
key = ''
#print(" Save the current image: s")
#print(" Quit the video reading: q\n")
while key != 113: # for 'q' key
img_path = save_dir + "/{:04d}.png".format(img_num)
err = cam.grab(runtime)
if err == tp.PyERROR_CODE.PySUCCESS:
cam.retrieve_image(mat)
cv2.imwrite(img_path, mat.get_data())
#cv2.imshow("ZED", mat.get_data())
key = cv2.waitKey(1)
saving_image(key, mat)
else:
#key = cv2.waitKey(1)
key = 113
cv2.destroyAllWindows()
#print_camera_information(cam)
#saving_depth(cam)
#saving_point_cloud(cam)
cam.close()
print("\nFINISH")
def main():
print("Running...")
init = zcam.PyInitParameters()
init.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD720
init.camera_linux_id = 0
init.camera_fps = 30 # The framerate is lowered to avoid any USB3 bandwidth issues
cam = zcam.PyZEDCamera()
if not cam.is_opened():
print("Opening ZED Camera 1...")
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
init.camera_linux_id = 1 # selection of the ZED ID
cam2 = zcam.PyZEDCamera()
if not cam2.is_opened():
print("Opening ZED Camera 2...")
status = cam2.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
runtime = zcam.PyRuntimeParameters()
mat = core.PyMat()
mat2 = core.PyMat()
print_camera_information(cam)
print_camera_information(cam2)
key = ''
while key != 113: # for 'q' key
# The computation could also be done in a thread, one for each camera
err = cam.grab(runtime)
if err == tp.PyERROR_CODE.PySUCCESS:
cam.retrieve_image(mat, sl.PyVIEW.PyVIEW_LEFT)
cv2.imshow("ZED 1", mat.get_data())
err = cam2.grab(runtime)
if err == tp.PyERROR_CODE.PySUCCESS:
cam2.retrieve_image(mat2, sl.PyVIEW.PyVIEW_LEFT)
cv2.imshow("ZED 2", mat2.get_data())
key = cv2.waitKey(5)
cv2.destroyAllWindows()
cam.close()
print("\nFINISH")
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")
def capture_thread_func(svo_filepath=None):
global image_np_global, depth_np_global, exit_signal, new_data
zed = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
init_params = zcam.PyInitParameters()
init_params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD720 # Use HD1080 video mode
init_params.camera_fps = 30 # Set fps at 30
init_params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE
init_params.coordinate_units = sl.PyUNIT.PyUNIT_METER
init_params.svo_real_time_mode = False
if svo_filepath is not None:
init_params.svo_input_filename = svo_filepath
# Open the camera
err = zed.open(init_params)
print(err)
while err != tp.PyERROR_CODE.PySUCCESS:
err = zed.open(init_params)
print(err)
sleep(1)
image_mat = core.PyMat()
depth_mat = core.PyMat()
runtime_parameters = zcam.PyRuntimeParameters()
while not exit_signal:
if zed.grab(runtime_parameters) == tp.PyERROR_CODE.PySUCCESS:
zed.retrieve_image(image_mat,
sl.PyVIEW.PyVIEW_LEFT,
width=width,
height=height)
zed.retrieve_measure(depth_mat,
sl.PyMEASURE.PyMEASURE_XYZRGBA,
width=width,
height=height)
lock.acquire()
image_np_global = load_image_into_numpy_array(image_mat)
depth_np_global = load_depth_into_numpy_array(depth_mat)
new_data = True
lock.release()
sleep(0.01)
zed.close()
def main():
# sys.argv[1] = '/home/ogai1234/Desktop/la.svo'
# if len(sys.argv) != 2:
# print("Please specify path to .svo file.")
# exit()
# filepath = sys.argv[1]
# global n
# n = 1
#change this name WHICH is in desktop
filename = ['3318']
for i in range(len(filename)):
print("Reading SVO file: {0}".format(filename[i]))
os.mkdir('/home/ogai1234/Desktop/' + filename[i])
init = zcam.PyInitParameters(svo_input_filename=(filename[i] + '.svo'),
svo_real_time_mode=False)
cam = zcam.PyZEDCamera()
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
runtime = zcam.PyRuntimeParameters()
mat = core.PyMat()
m = '2018_' + filename[i] + '_'
j = 0
key = ''
while status:
if cam.grab(runtime) == tp.PyERROR_CODE.PySUCCESS:
cam.retrieve_image(mat)
cv2.imshow("ZED", mat.get_data())
if j % 10 == 0:
filepath = '/home/ogai1234/Desktop/' + str(
filename[i]) + '/' + m + str(int(math.floor(
j / 10))) + '.jpg'
img = mat.write(filepath)
key = cv2.waitKey(1)
# print('11111111111111111111')
# n = n +1
j = j + 1
cam.close()
print("\nFINISH")
def ZED_SVO():
zed = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
#init_params = zcam.PyInitParameters()
filepath = sys.argv[1]
init_params = zcam.PyInitParameters(svo_input_filename=filepath,svo_real_time_mode=False)
init_params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE # Use PERFORMANCE depth mode
init_params.coordinate_units = sl.PyUNIT.PyUNIT_MILLIMETER # Use milliliter units (for depth measurements)
# Open the camera
err = zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Create and set PyRuntimeParameters after opening the camera
runtime_parameters = zcam.PyRuntimeParameters()
runtime_parameters.sensing_mode = sl.PySENSING_MODE.PySENSING_MODE_STANDARD # Use STANDARD sensing mode
return zed, runtime_parameters
def main():
# Create a PyZEDCamera object
zed = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
init_params = zcam.PyInitParameters()
init_params.sdk_verbose = False
# Open the camera
err = zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Get camera information (ZED serial number)
zed_serial = zed.get_camera_information().serial_number
print("Hello! This is my serial number: {0}".format(zed_serial))
# Close the camera
zed.close()
def __init__(self, resolution='720', depth_mode='ultra', depth=True, color=True):
self.depth = depth
self.color = color
self.init = zcam.PyInitParameters()
resolutions = {'720': sl.PyRESOLUTION.PyRESOLUTION_HD720,
'1080':sl.PyRESOLUTION.PyRESOLUTION_HD1080,
'2K' :sl.PyRESOLUTION.PyRESOLUTION_HD2K}
depthModes = {'perf': sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE,
'med': sl.PyDEPTH_MODE.PyDEPTH_MODE_MEDIUM,
'qual': sl.PyDEPTH_MODE.PyDEPTH_MODE_QUALITY,
'ultra': sl.PyDEPTH_MODE.PyDEPTH_MODE_ULTRA,}
self.init.camera_resolution = resolutions[resolution]
self.init.depth_mode = depthModes[depth_mode]
self.cam = zcam.PyZEDCamera()
self.inQ, self.outQ = Queue(maxsize=1), Queue(maxsize=1)
return
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))
init = zcam.PyInitParameters(svo_input_filename=filepath, camera_image_flip=False, svo_real_time_mode=False)
cam = zcam.PyZEDCamera()
status = cam.open(init)
zed_cuda_ctx=PyCudaContext()
zed_cuda_ctx.pop_ctx()
predictor = predict.Prediction()
zed_cuda_ctx.push_ctx()
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
fourcc = cv2.VideoWriter_fourcc(*'mp4v') # Be sure to use lower case
out = cv2.VideoWriter('output.mp4', fourcc, 10.0, (1920, 1080))
runtime = zcam.PyRuntimeParameters()
mat = core.PyMat()
while True: # for 'q' key
err = cam.grab(runtime)
if err == tp.PyERROR_CODE.PySUCCESS:
cam.retrieve_image(mat)
npimg = mat.get_data().astype(np.float32)[:,:,:3]
zed_cuda_ctx.pop_ctx()
prediction = predictor.infer(npimg, overlay=True)
zed_cuda_ctx.push_ctx()
out_image = cv2.cvtColor(np.array(prediction), cv2.COLOR_RGB2BGR)
cv2.imshow('Perception', out_image)
out.write(out_image)
key = cv2.waitKey(1)
cv2.destroyAllWindows()
out.release()
cam.close()
print("\nFINISH")
def init_zed():
global zed
global runtime_parameters
zed = zcam.PyZEDCamera()
init_params = zcam.PyInitParameters()
init_params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE
init_params.coordinate_units = sl.PyUNIT.PyUNIT_MILLIMETER
err = zed.open(init_params)
if err == tp.PyERROR_CODE.PySUCCESS:
print("ZED Opened")
pass
else:
print("init_zed failed!! ERROR_CODE:%d" % err)
exit(1)
runtime_parameters = zcam.PyRuntimeParameters()
runtime_parameters.sensing_mode = sl.PySENSING_MODE.PySENSING_MODE_STANDARD
def main():
print("\n\n\n############################################################")
print("Welcome to the Artificial Intelligence Lecture 2: Perception")
print("############################################################ \n")
print("\n **** Codeexample 2: Image Capturing *** \n")
print("\n1. Opening the camera by creating and Camera Object and initializing the camera:")
# 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: VGA,HD720,HD1080,HD2k
init_params.camera_fps = 30 # Set fps at 30: 15,30, 60,100
# Open the camera
err = zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(1)
# Capture 5 frames and stop
i = 0
image = core.PyMat()
runtime_parameters = zcam.PyRuntimeParameters()
while i < 1:
# Grab an image, a PyRuntimeParameters object must be given to grab()
if zed.grab(runtime_parameters) == tp.PyERROR_CODE.PySUCCESS:
# A new image is available if grab() returns PySUCCESS
zed.retrieve_image(image, sl.PyVIEW.PyVIEW_LEFT)
timestamp = zed.get_timestamp(sl.PyTIME_REFERENCE.PyTIME_REFERENCE_CURRENT) # Get the timestamp at the time the image was captured
print("Image resolution: {0} x {1} || Image timestamp: {2}\n".format(image.get_width(), image.get_height(),
timestamp))
cv2.imwrite('Pictures/Image_1.png',image.get_data())
i = i + 1
# Close the camera
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))
init = zcam.PyInitParameters(svo_input_filename=filepath)
cam = zcam.PyZEDCamera()
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
runtime = zcam.PyRuntimeParameters()
mat = core.PyMat()
key = ''
print(" Save the current image: s")
print(" Quit the video reading: q\n")
while key != 113: # for 'q' key
err = cam.grab(runtime)
if err == tp.PyERROR_CODE.PySUCCESS:
cam.retrieve_image(mat)
cv2.imshow("ZED", mat.get_data())
key = cv2.waitKey(1)
saving_image(key, mat)
else:
key = cv2.waitKey(1)
cv2.destroyAllWindows()
print_camera_information(cam)
saving_depth(cam)
saving_point_cloud(cam)
cam.close()
print("\nFINISH")
