betulbayram / pyzed Goto Github PK

image_sl_left = sl.Mat()
zed.retrieve_image(image_sl_left, sl.VIEW.LEFT)
image_cv_left = image_sl_left.get_data()

image_sl_right = sl.Mat()
zed.retrieve_image(image_sl_right, sl.VIEW.RIGHT)
image_cv_right = image_sl_right.get_data()

sbs_image = np.concatenate((image_cv_left, image_cv_right), axis=1)

cv2.imwrite(filename, sbs_image)

if key == 100 or key == 68:
    save_depth(zed, path + prefix_depth + str(count_save))
    count_save += 1
elif key == 110 or key == 78:
    mode_depth += 1
    depth_format_ext = depth_format_name()
    print("Depth format: ", depth_format_ext)
elif key == 112 or key == 80:
    save_point_cloud(zed, path + prefix_point_cloud + str(count_save))
    count_save += 1
elif key == 109 or key == 77:
    mode_point_cloud += 1
    point_cloud_format_ext = point_cloud_format_name()
    print("Point Cloud format: ", point_cloud_format_ext)
elif key == 104 or key == 72:
    print(help_string)
elif key == 115:
    save_sbs_image(zed, "ZED_image" + str(count_save) + ".png")
    count_save += 1
else:
    a = 0

# Create a ZED camera object
zed = sl.Camera()

# Set configuration parameters
input_type = sl.InputType()
if len(sys.argv) >= 2 :
    input_type.set_from_svo_file(sys.argv[1])
init = sl.InitParameters(input_t=input_type)
init.camera_resolution = sl.RESOLUTION.HD1080
init.depth_mode = sl.DEPTH_MODE.PERFORMANCE
init.coordinate_units = sl.UNIT.MILLIMETER

# Open the camera
err = zed.open(init)
if err != sl.ERROR_CODE.SUCCESS :
    print(repr(err))
    zed.close()
    exit(1)

# Display help in console
print_help()

# Set runtime parameters after opening the camera
runtime = sl.RuntimeParameters()
runtime.sensing_mode = sl.SENSING_MODE.STANDARD

# Prepare new image size to retrieve half-resolution images
image_size = zed.get_camera_information().camera_resolution
image_size.width = image_size.width /2
image_size.height = image_size.height /2

# Declare your sl.Mat matrices
image_zed = sl.Mat(image_size.width, image_size.height, sl.MAT_TYPE.U8_C4)
depth_image_zed = sl.Mat(image_size.width, image_size.height, sl.MAT_TYPE.U8_C4)
point_cloud = sl.Mat()

key = ' '
while key != 113 :
    err = zed.grab(runtime)
    if err == sl.ERROR_CODE.SUCCESS :
        # Retrieve the left image, depth image in the half-resolution
        zed.retrieve_image(image_zed, sl.VIEW.LEFT, sl.MEM.CPU, image_size)
        zed.retrieve_image(depth_image_zed, sl.VIEW.DEPTH, sl.MEM.CPU, image_size)
        # Retrieve the RGBA point cloud in half resolution
        zed.retrieve_measure(point_cloud, sl.MEASURE.XYZRGBA, sl.MEM.CPU, image_size)

        # To recover data from sl.Mat to use it with opencv, use the get_data() method
        # It returns a numpy array that can be used as a matrix with opencv
        image_ocv = image_zed.get_data()
        depth_image_ocv = depth_image_zed.get_data()

        cv2.imshow("Image", image_ocv)
        cv2.imshow("Depth", depth_image_ocv)

        key = cv2.waitKey(10)

        process_key_event(zed, key)

cv2.destroyAllWindows()
zed.close()

print("\nFINISH")