六、其他

1、相机

（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()