ZED使用指南（五）Camera Controls |
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ZED使用指南（五）Camera Controls
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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 SUCCESS zed.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 different settings. """ import cv2 import pyzed.sl as sl camera_settings = sl.VIDEO_SETTINGS.BRIGHTNESS str_camera_settings = "BRIGHTNESS" step_camera_settings = 1 def 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' key err = 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' key switch_camera_settings() elif key == 43: # for '+' key current_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 '-' key current_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' key cam.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' key record(cam, runtime, mat) def switch_camera_settings(): global camera_settings global str_camera_settings if camera_settings == sl.VIDEO_SETTINGS.BRIGHTNESS: camera_settings = sl.VIDEO_SETTINGS.CONTRAST str_camera_settings = "Contrast" print("Camera settings: CONTRAST") elif camera_settings == sl.VIDEO_SETTINGS.CONTRAST: camera_settings = sl.VIDEO_SETTINGS.HUE str_camera_settings = "Hue" print("Camera settings: HUE") elif camera_settings == sl.VIDEO_SETTINGS.HUE: camera_settings = sl.VIDEO_SETTINGS.SATURATION str_camera_settings = "Saturation" print("Camera settings: SATURATION") elif camera_settings == sl.VIDEO_SETTINGS.SATURATION: camera_settings = sl.VIDEO_SETTINGS.SHARPNESS str_camera_settings = "Sharpness" print("Camera settings: Sharpness") elif camera_settings == sl.VIDEO_SETTINGS.SHARPNESS: camera_settings = sl.VIDEO_SETTINGS.GAIN str_camera_settings = "Gain" print("Camera settings: GAIN") elif camera_settings == sl.VIDEO_SETTINGS.GAIN: camera_settings = sl.VIDEO_SETTINGS.EXPOSURE str_camera_settings = "Exposure" print("Camera settings: EXPOSURE") elif camera_settings == sl.VIDEO_SETTINGS.EXPOSURE: camera_settings = sl.VIDEO_SETTINGS.WHITEBALANCE_TEMPERATURE str_camera_settings = "White Balance" print("Camera settings: WHITEBALANCE") elif camera_settings == sl.VIDEO_SETTINGS.WHITEBALANCE_TEMPERATURE: camera_settings = sl.VIDEO_SETTINGS.BRIGHTNESS str_camera_settings = "Brightness" print("Camera settings: BRIGHTNESS") def record(cam, runtime, mat): vid = sl.ERROR_CODE.FAILURE out = False while 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 = True print("Hit spacebar to stop recording: ") key = False while key != 32: # for spacebar err = 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() |
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