def cap_and_show_depth_image():
global zed
global runtime_parameters
i = 0
key = ''
left_img = core.PyMat()
right_img = core.PyMat()
prev_img = core.PyMat()
curr_img = core.PyMat()
match_img = ""
depth = core.PyMat()
while key != 113: # means 'q'
if zed.grab(runtime_parameters) == tp.PyERROR_CODE.PySUCCESS:
zed.retrieve_image(left_img, sl.PyVIEW.PyVIEW_LEFT_GRAY)
zed.retrieve_measure(depth, sl.PyMEASURE.PyMEASURE_DEPTH)
curr_img = left_img.get_data()
if i == 0:
# skip this operation
pass
else:
detect_matching_from_images(prev_img, curr_img)
key = cv2.waitKey(10)
i = i + 1
prev_img = copy.deepcopy(curr_img)
zed.close()
def main():
#
zed, runtime_parameters = ZED_SVO()
#zed, runtime_parameters = ZED_SVO()
color_feat = True
i = 0
image = core.PyMat()
depth = core.PyMat()
point_cloud = core.PyMat()
confidence = core.PyMat()
classifier = joblib.load("Road_classifier_TEST.pkl")
print("own data start \n")
#for j in range(3032):
#zed.grab(runtime_parameters)
#zed.set_svo_position(3032)
while i < 1:
i = i + 1
# 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)
zed.retrieve_measure(point_cloud, sl.PyMEASURE.PyMEASURE_XYZRGBA)
zed.retrieve_measure(depth, sl.PyMEASURE.PyMEASURE_DEPTH)
#print(point_cloud.get_data()[240, 140, :], point_cloud.get_data()[1:, 1:, :].shape)
feat_img = image.get_data()[:, :, :3]
feat_col = feat_img[:704, :, :3]
classes = classify(feat_col, point_cloud, classifier)
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 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 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 __init__(self):
"""Basic initilization of camera"""
self.cam = zcam.PyZEDCamera()
self.zed_param = None
self.zedStatus = None
self.runtime_param = None
self._image = core.PyMat()
self._depth = core.PyMat()
self.image = None
self.depth = None
self.image_time = None
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():
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 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():
# 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, 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():
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, 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 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 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 cap_and_show_depth_image():
global zed
global runtime_parameters
i = 0
key = ''
limage = core.PyMat()
rimage = core.PyMat()
depth = core.PyMat()
point_cloud = core.PyMat()
while key != 113: # means 'q'
if zed.grab(runtime_parameters) == tp.PyERROR_CODE.PySUCCESS:
zed.retrieve_image(limage, sl.PyVIEW.PyVIEW_LEFT)
zed.retrieve_image(rimage, sl.PyVIEW.PyVIEW_RIGHT)
zed.retrieve_measure(depth, sl.PyMEASURE.PyMEASURE_DEPTH)
zed.retrieve_measure(point_cloud, sl.PyMEASURE.PyMEASURE_XYZRGBA)
cv2.imshow("left image", limage.get_data())
cv2.imshow("right image", rimage.get_data())
cv2.imshow("depth image", depth.get_data())
key = cv2.waitKey(10)
x = round(limage.get_width() / 2.0)
y = round(limage.get_height() / 2.0)
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 np.isnan(distance) or np.isinf(distance):
print(
"Can't estimate distance at this position, move the camera\n"
)
else:
distance = round(distance)
print("Distance to Camera at ({0}, {1}): {2}mm\n".format(
x, y, distance))
i = i + 1
sys.stdout.flush()
zed.close()
def __init__(self):
super(ZEDCamera, self).__init__()
# Create a PyZEDCamera object
self.zed = zcam.PyZEDCamera()
self.camera_settings_table = self.get_camera_settings_table()
# runtime_parameters.sensing_mode = sl.PySENSING_MODE.PySENSING_MODE_FILL
self.runtime_parameters = zcam.PyRuntimeParameters()
self.camera_settings_value = None
self.image_mat = core.PyMat(
) # the image mat, useful for all capturing
def __enter__(self):
totalAttempts = 5
for attempt in range(totalAttempts):
if self._openCamera() == True:
self.runtime = zcam.PyRuntimeParameters()
varNames = []
if self.depth == True:
self.mat_depth = core.PyMat()
varNames.append('depth')
if self.color == True:
self.mat_color = core.PyMat()
varNames.append('color')
self.Album = namedtuple('Album', varNames)
self.videoStream = ZEDVideoStream(self, self.inQ, self.outQ)
self.videoStream.start()
return self
else:
sleep(5)
raise IOError('Camera could not be opened, please try power cylcing the ZED')
def __init__(self):
# Create a PyZEDCamera object
self.zed = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
self.init_params = zcam.PyInitParameters()
self.init_params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE # Use PERFORMANCE depth mode
self.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
self.runtime_parameters = zcam.PyRuntimeParameters()
self.runtime_parameters.sensing_mode = sl.PySENSING_MODE.PySENSING_MODE_STANDARD # Use STANDARD sensing mode
self.image = core.PyMat()
self.depth_for_display = core.PyMat()
print('Current mode: Capture {} images as fast as possible.\nMerge the images.\nSave to pickle files.'.format(num_images))
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 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():
# 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 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 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")
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
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()
m = '2018_0751_'
i = 0
key = ''
while (key != 113) and (i < 21000):
if cam.grab(runtime) == tp.PyERROR_CODE.PySUCCESS:
cam.retrieve_image(mat)
cv2.imshow("ZED", mat.get_data())
if i%10 == 0:
filepath ='/home/ogai1234/Desktop/p/' + m + str(int(math.floor(i/10))) + '.jpg'
img = mat.write(filepath)
key = cv2.waitKey(1)
# print('11111111111111111111')
n = n +1
i = i + 1
cam.close()
print("\nFINISH")
def main():
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
color_feat = True
i = 0
image = core.PyMat()
depth = core.PyMat()
point_cloud = core.PyMat()
confidence = core.PyMat()
features = []
images = []
depthroad = []
classifier = joblib.load("Road_classifier.pkl")
print("own data start \n")
#for j in range(3032):
#zed.grab(runtime_parameters)
zed.set_svo_position(3032)
while i < 1:
i = i + 1
# 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)
feat_img = image.get_data()[:, :, :3]
#feat_img = cv2.cvtColor(feat_img, cv2.COLOR_BGR2YCR_CB) #YCR_CB #RGB #HSV
zed.retrieve_measure(point_cloud, sl.PyMEASURE.PyMEASURE_XYZRGBA)
zed.retrieve_measure(depth, sl.PyMEASURE.PyMEASURE_DEPTH)
zed.retrieve_measure(confidence, sl.PyMEASURE.PyMEASURE_CONFIDENCE)
feat_col = feat_img[:704, :, :3]
haralick = rr.compute_haralick(feat_col)
print(haralick, haralick[..., 2:].shape)
haralick = haralick.reshape((-1, 5))
feature = rr.get_features(feat_col, color_feat)
feature = np.concatenate((feature, haralick), 1)
depthroad = 1 - g.is_road(point_cloud.get_data()[:704, :, :3])
features.append(feature)
data = np.array(features)[0, :, :]
classes = classifier.predict(data)
classes = classes.reshape(704, 1280)
classes = np.logical_and(classes, depthroad)
rr.show(classes, feat_col, feat_img,
point_cloud.get_data()[:704, :, :3])
def main():
print("\n############################################################")
print("Welcome to the Artificial Intelligence Lecture 2: Perception")
print("############################################################ \n")
print("\n **** Codeexample 8: Hough Line Detection *** \n")
print("\n1. We will acces the camera and see the camera Paramters:")
# Create a PyZEDCamera object
cam = zcam.PyZEDCamera()
# Create a PyInitParameters object and set configuration parameters
init = zcam.PyInitParameters()
# Open the camera
if not cam.is_opened():
print("Opening Camera...")
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
runtime = zcam.PyRuntimeParameters()
#Define the image as ZED Python Wrapper format
image = core.PyMat()
# Extract the current Camera paramters and camera Information
print_camera_information(cam)
print(
"\n2. Now we will grey and blur the image and do a canny edge detection"
)
key = ''
while key != 113: # for 'q' key
err = cam.grab(runtime)
if err == tp.PyERROR_CODE.PySUCCESS:
cam.retrieve_image(image, sl.PyVIEW.PyVIEW_LEFT)
#Process the Image
image2 = image.get_data()
gray_image = cv2.cvtColor(image.get_data(), cv2.COLOR_BGR2GRAY)
blur = cv2.GaussianBlur(gray_image, (7, 7), 1.5)
edges = cv2.Canny(blur, 0, 23)
#Detect the Hough Lines
rho = 1
theta = np.pi / 180
threshold = 50
min_line_length = 30
max_line_gap = 10
line_image = np.copy(
gray_image) * 0 # creating a blank to draw lines on
# Run Hough on edge detected image
lines = cv2.HoughLinesP(edges, rho, theta, threshold, np.array([]),
min_line_length, max_line_gap)
# Iterate over the output "lines" and draw lines on the blank
for line in lines:
for x1, y1, x2, y2 in line:
cv2.line(line_image, (x1, y1), (x2, y2), (255, 0, 0), 10)
# Create a "color" binary image to combine with line image
color_edges = edges
# Draw the lines on the edge image
houghlines = cv2.addWeighted(color_edges, 0.8, line_image, 1, 0)
#rescale the images
gray_image2 = cv2.resize(gray_image, (0, 0), None, .70, .70)
houghlines2 = cv2.resize(houghlines, (0, 0), None, .70, .70)
edges2 = cv2.resize(edges, (0, 0), None, .70, .70)
# Put all images in one numpy stack
numpy_horizontal = np.hstack((gray_image2, edges2, houghlines2))
cv2.imshow("ZED Live Stream", numpy_horizontal)
key = cv2.waitKey(5)
else:
key = cv2.waitKey(5)
cv2.destroyAllWindows()
cam.close()
print("\nFINISH")
def detect_video(yolo, video_path, output_path=""):
#import socket
import cv2
#BUFSIZE=1024
#client=socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
#ip_port=('192.168.11.174',8888)
accum_time = 0
curr_fps = 0
fps = "FPS: ??"
prev_time = timer()
zed = zcam.PyZEDCamera()
init_params = zcam.PyInitParameters()
init_params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_VGA
init_params.coordinate_units = sl.PyUNIT.PyUNIT_MILLIMETER
err = zed.open(init_params)
if err != tp.PyERROR_CODE.PySUCCESS:
exit(-1)
runtime_params = zcam.PyRuntimeParameters()
runtime_params.sensing_mode = sl.PySENSING_MODE.PySENSING_MODE_STANDARD
image = core.PyMat()
depth = core.PyMat()
point_cloud = core.PyMat()
#count=0
while True:
if zed.grab(runtime_params) == tp.PyERROR_CODE.PySUCCESS:
zed.retrieve_image(image, sl.PyVIEW.PyVIEW_LEFT)
#zed.retrieve_measure(depth,sl.PyMEASURE.PyMEASURE_DEPTH)
#zed.retrieve_measure(point_cloud,sl.PyMEASURE.PyMEASURE_XYZRGBA)
#frame=np.asarray(frame,image.size,image.type)
print(type(image))
#frame0=core.slMat2cvMat(image)
frame0 = image.get_data()
#cloud_img=point_cloud.get_data()
print(type(frame0))
frame = Image.fromarray(frame0)
imageA = yolo.detect_image(frame)
#x=round(image.get_width()/2)
#y=round(image.get_height()/2)
global locX, locY
#err,point_cloud_value=point_cloud.get_value(locX,locY)
#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])
#msg=StringIO.StringIO()
"""if not np.isnan(distance) and not np.isinf(distance):
distance=round(distance)
global Class
if Class==0:
sprintf(msg,"Distance to Blue Cone at(%d，%d):%d mm\n"，locX,locY,distance)
elif Class==1:
sprintf(msg,"Distance to Red Cone at(%d, %d):%d mm\n",locX,locY,distance)
else:
sprintf(msg,"Distance to Yellow Cone at(%d, %d):%d mm\n",locX,locY,distance)
#print(msg.getvalue())
#msg1=buf+str(count)
#client.sendto(msg1.encode('utf-8'),ip_port)
#data,server_addr=client.recvfrom(BUFSIZE)
#count+=1
else:
print("Can't estimate distance at this position!\n")
sys.stdout.flush()"""
#imageL,locXL,locYL=yolo.detect_image(imageL)
resultA = np.asarray(imageA)
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(resultA,
text=fps,
org=(3, 15),
fontFace=cv2.FONT_HERSHEY_SIMPLEX,
fontScale=0.50,
color=(255, 0, 0),
thickness=2)
cv2.namedWindow("result_win", cv2.WINDOW_NORMAL)
cv2.imshow("result_win", resultA)
#printf("the")
# if isOutput:
# out.write(resultL)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
yolo.close_session()
def main():
global fps_time
if len(sys.argv) != 2:
print("Please specify path to .svo file.")
exit()
filepath = sys.argv[1]
ite = loadall("pickle.dat")
print("Reading SVO file: {0}".format(filepath))
t = time.time()
init = zcam.PyInitParameters(svo_input_filename=filepath,
svo_real_time_mode=False)
init.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_QUALITY
cam = zcam.PyZEDCamera()
status = cam.open(init)
if status != tp.PyERROR_CODE.PySUCCESS:
print(repr(status))
exit()
runtime = zcam.PyRuntimeParameters()
mat = core.PyMat()
depth = core.PyMat()
print('Initilisation of svo took ', time.time() - t, ' seconds')
key = ''
graph_path = "./models/graph/mobilenet_thin/graph_opt.pb" #"./models/graph/cmu/graph_opt.pb"
target = (432, 368) #(656,368) (432,368) (1312,736)
e = TfPoseEstimator(graph_path, target)
nbf = 0
nbp = 0
print(" Save the current image: s")
print(" Quit the video reading: q\n")
while key != 113: # for 'q' key
t = time.time()
err = cam.grab(runtime)
if err == tp.PyERROR_CODE.PySUCCESS:
retrieve_start = time.time()
cam.retrieve_image(mat)
cam.retrieve_measure(depth, sl.PyMEASURE.PyMEASURE_XYZRGBA)
image = mat.get_data()
retrieve_end = time.time()
print('Retrieving of svo data took ',
retrieve_end - retrieve_start, ' seconds')
pt = np.array(depth.get_data()[:, :, 0:3], dtype=np.float64)
print(pt.shape, image.shape)
pt[np.logical_not(np.isfinite(pt))] = 0.0
nbf += 1
pose_start = time.time()
humans = e.inference(np.array(image[:, :, 0:3]))
image_h, image_w = image.shape[:2]
pose_end = time.time()
print("Inference took", pose_end - pose_start, 'seconds')
for pid, human in enumerate(humans):
for kid, bdp in enumerate(human.body_parts.values()):
#print(bdp)
#print(kid, bdp.x, bdp.y, bdp.score)
if (bdp.score > 5.0):
print((int(bdp.x * image_w + 0.5),
int(bdp.y * image_h + 0 / 5)))
print(pt[int(bdp.y * image_h + 0 / 5),
int(bdp.x * image_w + 0.5)])
nbp += 1
cv2.circle(image, (int(bdp.x * image_w + 0.5),
int(bdp.y * image_h + 0 / 5)),
5, (255, 255, 255),
thickness=5,
lineType=8,
shift=0)
#coord_uv[pid,kid,:]=np.array([int(bdp.x*image_w+0.5),int(bdp.y*image_h+0/5)])
#coord_vis[pid,kid]=bdp.score/10
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
cv2.putText(image, "FPS: %f" % (1.0 / (time.time() - fps_time)),
(10, 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0),
2)
#print(time.time()-t)
cv2.imshow('tf-pose-estimation result', image)
fps_time = time.time()
key = cv2.waitKey(1)
saving_image(key, mat)
#time.sleep(0.033)
else:
key = cv2.waitKey(1)
cv2.destroyAllWindows()
print(nbp / nbf, (nbp / nbf) / 18)
#saving_depth(cam)
#saving_point_cloud(cam)
cam.close()
print("\nFINISH")
