网站建设外包公司管理方法,网络工程建设流程,wordpress目录调用,全flash网站制作教程七、其他
1、相机控制
#xff08;1#xff09;选择视频模式
左右视频帧同步#xff0c;以并排格式作为单个未压缩视频帧流式传输。 在ZED Explorer或者使用API可以改变视频的分辨率和帧率。
#xff08;2#xff09;选择输出视图
ZED能以不同的格式输出图像#xf…七、其他
1、相机控制
1选择视频模式
左右视频帧同步以并排格式作为单个未压缩视频帧流式传输。 在ZED Explorer或者使用API可以改变视频的分辨率和帧率。
2选择输出视图
ZED能以不同的格式输出图像包括校正、未校正和灰度图像左视图、右视图、并排视图、左未校正或右未校正、左灰度或右灰度。
3调整相机设置
ZED相机具有板载ISP图像信号处理器可以对双图像传感器捕获的原始图像执行各种图像处理算法。ISP的参数可以通过ZED Explorer或者ZED SDK进行调整。 相机调整参数左右是同步的不能单独调整。
当相机的白平衡、曝光和增益处于“自动”模式时它们会根据场景中的亮度自动调整。
注意在低光环境中增加Gamma设置。
使用API
1相机配置
创建一个camera对象并指定InitParameters。
初始参数可以调整分辨率、FPS、深度感知参数等等。这些参数只能在打开相机前设置不能在相机的使用过程中更改。
# Create a ZED camera object
zed sl.Camera()# Set configuration parameters
init_params sl.InitParameters()
init_params.camera_resolution sl.RESOLUTION.HD1080
init_params.camera_fps 30# Open the camera
err zed.open(init_params)
if err ! sl.ERROR_CODE.SUCCESS:exit(-1) InitParameters包含默认配置。
2捕获图像
指定RuntimeParameters调用grab()捕获新帧调用retrieveImage()检索捕获的帧。
retrieveImage()可以在不同的视图之间进行选择如左、右、未校正和灰度图像。
image sl.Mat()
if zed.grab() SUCCESS:# A new image is available if grab() returns SUCCESSzed.retrieve_image(image, sl.VIEW.LEFT) # Retrieve the left image 3调整相机控制
曝光、白平衡等相机设置可以在运行时使用setcamersettings()手动设置。
要改变相机分辨率和帧率使用InitParameters()。
# Set exposure to 50% of camera framerate
zed.set_camera_settings(sl.VIDEO_SETTINGS.EXPOSURE, 50)
# Set white balance to 4600K
zed.set_camera_settings(sl.VIDEO_SETTINGS.WHITE_BALANCE, 4600)
# Reset to auto exposure
zed.set_camera_settings(sl.VIDEO_SETTINGS.EXPOSURE, -1)
完整程序
Live camera sample showing the camera information and video in real time and allows to control the differentsettings.
import cv2
import pyzed.sl as slcamera_settings sl.VIDEO_SETTINGS.BRIGHTNESS
str_camera_settings BRIGHTNESS
step_camera_settings 1def main():print(Running...)init sl.InitParameters()cam sl.Camera()if not cam.is_opened():print(Opening ZED Camera...)status cam.open(init)if status ! sl.ERROR_CODE.SUCCESS:print(repr(status))exit()runtime sl.RuntimeParameters()mat sl.Mat()print_camera_information(cam)print_help()key while key ! 113: # for q keyerr cam.grab(runtime)if err sl.ERROR_CODE.SUCCESS:cam.retrieve_image(mat, sl.VIEW.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 print_camera_information(cam):print(Resolution: {0}, {1}..format(round(cam.get_camera_information().camera_configuration.resolution.width, 2), cam.get_camera_information().camera_configuration.resolution.height))print(Camera FPS: {0}..format(cam.get_camera_information().camera_configuration.fps))print(Firmware: {0}..format(cam.get_camera_information().camera_configuration.firmware_version))print(Serial number: {0}.\n.format(cam.get_camera_information().serial_number))def print_help():print(Help for camera setting controls)print( Increase camera settings value: )print( Decrease camera settings value: -)print( Switch camera settings: s)print( Reset all parameters: r)print( Record a video: z)print( Quit: q\n)def settings(key, cam, runtime, mat):if key 115: # for s keyswitch_camera_settings()elif key 43: # for keycurrent_value cam.get_camera_settings(camera_settings)[1]cam.set_camera_settings(camera_settings, current_value step_camera_settings)print(str_camera_settings : str(current_value step_camera_settings))elif key 45: # for - keycurrent_value cam.get_camera_settings(camera_settings)[1]if current_value 1:cam.set_camera_settings(camera_settings, current_value - step_camera_settings)print(str_camera_settings : str(current_value - step_camera_settings))elif key 114: # for r keycam.set_camera_settings(sl.VIDEO_SETTINGS.BRIGHTNESS, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.CONTRAST, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.HUE, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.SATURATION, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.SHARPNESS, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.GAIN, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.EXPOSURE, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.WHITEBALANCE_TEMPERATURE, -1)print(Camera settings: reset)elif key 122: # for z keyrecord(cam, runtime, mat)def switch_camera_settings():global camera_settingsglobal str_camera_settingsif camera_settings sl.VIDEO_SETTINGS.BRIGHTNESS:camera_settings sl.VIDEO_SETTINGS.CONTRASTstr_camera_settings Contrastprint(Camera settings: CONTRAST)elif camera_settings sl.VIDEO_SETTINGS.CONTRAST:camera_settings sl.VIDEO_SETTINGS.HUEstr_camera_settings Hueprint(Camera settings: HUE)elif camera_settings sl.VIDEO_SETTINGS.HUE:camera_settings sl.VIDEO_SETTINGS.SATURATIONstr_camera_settings Saturationprint(Camera settings: SATURATION)elif camera_settings sl.VIDEO_SETTINGS.SATURATION:camera_settings sl.VIDEO_SETTINGS.SHARPNESSstr_camera_settings Sharpnessprint(Camera settings: Sharpness)elif camera_settings sl.VIDEO_SETTINGS.SHARPNESS:camera_settings sl.VIDEO_SETTINGS.GAINstr_camera_settings Gainprint(Camera settings: GAIN)elif camera_settings sl.VIDEO_SETTINGS.GAIN:camera_settings sl.VIDEO_SETTINGS.EXPOSUREstr_camera_settings Exposureprint(Camera settings: EXPOSURE)elif camera_settings sl.VIDEO_SETTINGS.EXPOSURE:camera_settings sl.VIDEO_SETTINGS.WHITEBALANCE_TEMPERATUREstr_camera_settings White Balanceprint(Camera settings: WHITEBALANCE)elif camera_settings sl.VIDEO_SETTINGS.WHITEBALANCE_TEMPERATURE:camera_settings sl.VIDEO_SETTINGS.BRIGHTNESSstr_camera_settings Brightnessprint(Camera settings: BRIGHTNESS)def record(cam, runtime, mat):vid sl.ERROR_CODE.FAILUREout Falsewhile vid ! sl.ERROR_CODE.SUCCESS and not out:filepath input(Enter filepath name: )record_param sl.RecordingParameters(filepath)vid cam.enable_recording(record_param)print(repr(vid))if vid sl.ERROR_CODE.SUCCESS:print(Recording started...)out Trueprint(Hit spacebar to stop recording: )key Falsewhile key ! 32: # for spacebarerr cam.grab(runtime)if err sl.ERROR_CODE.SUCCESS:cam.retrieve_image(mat)cv2.imshow(ZED, mat.get_data())key cv2.waitKey(5)else:print(Help: you must enter the filepath filename SVO extension.)print(Recording not started.)cam.disable_recording()print(Recording finished.)cv2.destroyAllWindows()if __name__ __main__:main()
