public void SetData(cv.Mat input)
{
//if (xSize != -1 || zSize != -1)
//{
// surfaceMeshRenderableSeries.DataSeries.Clear();
//}
zMap = new cv.Mat(new cv.Size(input.Width, input.Height), cv.MatType.CV_32FC1);
input.ConvertTo(zMap, cv.MatType.CV_32FC1);
//Init(zMap.Rows, zMap.Cols);
Init(zMap.Rows, zMap.Cols);
Parallel.For(0, xSize, x =>
{
for (int z = 0; z < zSize; ++z)
{
MeshDataSeries[z, x] = zMap.At <float>(x, z);
if (yMax < zMap.Get <float>(x, z))
{
yMax = zMap.Get <float>(x, z);
}
}
});
double min = 0.0f, max = 0.0f;
zMap.MinMaxLoc(out min, out max);
surfaceMeshRenderableSeries.Maximum = max;
surfaceMeshRenderableSeries.Minimum = min;
//backgroundSurfaceMesh.IsVisible = false;
}
static void Main(string[] args)
{
if (args.Length != 3)
{
Console.WriteLine("Usage: ");
Console.WriteLine(" ZED_SVO_Export A B C ");
Console.WriteLine("Please use the following parameters from the command line:");
Console.WriteLine(" A - SVO file path (input) : \"path/to/file.svo\"");
Console.WriteLine(" B - AVI file path (output) or image sequence folder(output) : \"path/to/output/file.avi\" or \"path/to/output/folder\"");
Console.WriteLine(" C - Export mode: 0=Export LEFT+RIGHT AVI.");
Console.WriteLine(" 1=Export LEFT+DEPTH_VIEW AVI.");
Console.WriteLine(" 2=Export LEFT+RIGHT image sequence.");
Console.WriteLine(" 3=Export LEFT+DEPTH_VIEW image sequence.");
Console.WriteLine(" 4=Export LEFT+DEPTH_16Bit image sequence.");
Console.WriteLine(" A and B need to end with '/' or '\\'\n\n");
Console.WriteLine("Examples: \n");
Console.WriteLine(" (AVI LEFT+RIGHT) ZED_SVO_Export \"path/to/file.svo\" \"path/to/output/file.avi\" 0");
Console.WriteLine(" (AVI LEFT+DEPTH) ZED_SVO_Export \"path/to/file.svo\" \"path/to/output/file.avi\" 1");
Console.WriteLine(" (SEQUENCE LEFT+RIGHT) ZED_SVO_Export \"path/to/file.svo\" \"path/to/output/folder\" 2");
Console.WriteLine(" (SEQUENCE LEFT+DEPTH) ZED_SVO_Export \"path/to/file.svo\" \"path/to/output/folder\" 3");
Console.WriteLine(" (SEQUENCE LEFT+DEPTH_16Bit) ZED_SVO_Export \"path/to/file.svo\" \"path/to/output/folder\" 4");
Environment.Exit(-1);
}
string svoInputPath = args[0];
string outputPath = args[1];
bool outputAsVideo = true;
APP_TYPE appType = APP_TYPE.LEFT_AND_RIGHT;
if (args[2].Equals("1") || args[2].Equals("3"))
{
appType = APP_TYPE.LEFT_AND_DEPTH;
}
if (args[2].Equals("4"))
{
appType = APP_TYPE.LEFT_AND_DEPTH_16;
}
// Check if exporting to AVI or SEQUENCE
if (!args[2].Equals("0") && !args[2].Equals("1"))
{
outputAsVideo = false;
}
if (!outputAsVideo && !Directory.Exists(outputPath))
{
Console.WriteLine("Input directory doesn't exist. Check permissions or create it. " + outputPath);
Environment.Exit(-1);
}
if (!outputAsVideo && outputPath.Substring(outputPath.Length - 1) != "/" && outputPath.Substring(outputPath.Length - 1) != "\\")
{
Console.WriteLine("Error: output folder needs to end with '/' or '\\'." + outputPath);
Environment.Exit(-1);
}
// Create ZED Camera
Camera zed = new Camera(0);
//Specify SVO path parameters
InitParameters initParameters = new InitParameters()
{
inputType = INPUT_TYPE.SVO,
pathSVO = svoInputPath,
svoRealTimeMode = true,
coordinateUnits = UNIT.MILLIMETER
};
ERROR_CODE zedOpenState = zed.Open(ref initParameters);
if (zedOpenState != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
Resolution imageSize = zed.GetCalibrationParameters().leftCam.resolution;
sl.Mat leftImage = new sl.Mat();
leftImage.Create(imageSize, MAT_TYPE.MAT_8U_C4);
OpenCvSharp.Mat leftImageOCV = SLMat2CVMat(ref leftImage, MAT_TYPE.MAT_8U_C4);
sl.Mat rightImage = new sl.Mat();
rightImage.Create(imageSize, MAT_TYPE.MAT_8U_C4);
OpenCvSharp.Mat rightImageOCV = SLMat2CVMat(ref rightImage, MAT_TYPE.MAT_8U_C4);
sl.Mat depthImage = new sl.Mat();
depthImage.Create(imageSize, MAT_TYPE.MAT_32F_C1);
OpenCvSharp.Mat depthImageOCV = SLMat2CVMat(ref depthImage, MAT_TYPE.MAT_8U_C4);
OpenCvSharp.Mat imageSideBySide = new OpenCvSharp.Mat();
if (outputAsVideo)
{
imageSideBySide = new OpenCvSharp.Mat((int)imageSize.height, (int)imageSize.width * 2, OpenCvSharp.MatType.CV_8UC3);
}
OpenCvSharp.VideoWriter videoWriter = new OpenCvSharp.VideoWriter();
//Create Video writter
if (outputAsVideo)
{
int fourcc = OpenCvSharp.VideoWriter.FourCC('M', '4', 'S', '2'); // MPEG-4 part 2 codec
int frameRate = Math.Max(zed.GetInitParameters().cameraFPS, 25); // Minimum write rate in OpenCV is 25
Console.WriteLine(outputPath);
videoWriter.Open(outputPath, fourcc, frameRate, new OpenCvSharp.Size((int)imageSize.width * 2, (int)imageSize.height));
if (!videoWriter.IsOpened())
{
Console.WriteLine("Error: OpenCV video writer cannot be opened. Please check the .avi file path and write permissions.");
zed.Close();
Environment.Exit(-1);
}
}
RuntimeParameters rtParams = new RuntimeParameters();
rtParams.sensingMode = SENSING_MODE.FILL;
// Start SVO conversion to AVI/SEQUENCE
Console.WriteLine("Converting SVO... press Q to interupt conversion");
int nbFrames = zed.GetSVONumberOfFrames();
int svoPosition = 0;
zed.SetSVOPosition(svoPosition);
while (!exit_app)
{
exit_app = (System.Windows.Input.Keyboard.IsKeyDown(System.Windows.Input.Key.Q) == true);
ERROR_CODE err = zed.Grab(ref rtParams);
if (err == ERROR_CODE.SUCCESS)
{
svoPosition = zed.GetSVOPosition();
// Retrieve SVO images
zed.RetrieveImage(leftImage, VIEW.LEFT);
switch (appType)
{
case APP_TYPE.LEFT_AND_RIGHT:
zed.RetrieveImage(rightImage, VIEW.RIGHT);
break;
case APP_TYPE.LEFT_AND_DEPTH:
zed.RetrieveImage(rightImage, VIEW.DEPTH);
break;
case APP_TYPE.LEFT_AND_DEPTH_16:
zed.RetrieveMeasure(depthImage, MEASURE.DEPTH);
break;
default:
break;
}
if (outputAsVideo)
{
// Convert SVO image from RGBA to RGB
Cv2.CvtColor(leftImageOCV, imageSideBySide[new OpenCvSharp.Rect(0, 0, (int)imageSize.width, (int)imageSize.height)], ColorConversionCodes.BGRA2BGR);
Cv2.CvtColor(rightImageOCV, imageSideBySide[new OpenCvSharp.Rect((int)imageSize.width, 0, (int)imageSize.width, (int)imageSize.height)], ColorConversionCodes.BGRA2BGR);
// Write the RGB image in the video
videoWriter.Write(imageSideBySide);
}
else
{
// Generate filenames
string filename1 = "";
filename1 = outputPath + "/left" + svoPosition + ".png";
string filename2 = "";
filename2 = outputPath + (appType == APP_TYPE.LEFT_AND_RIGHT ? "/right" : "/depth") + svoPosition + ".png";
// Save Left images
Cv2.ImWrite(filename1, leftImageOCV);
//Save depth
if (appType != APP_TYPE.LEFT_AND_DEPTH_16)
{
Cv2.ImWrite(filename2, rightImageOCV);
}
else
{
//Convert to 16 bit
OpenCvSharp.Mat depth16 = new OpenCvSharp.Mat();
depthImageOCV.ConvertTo(depth16, MatType.CV_16UC1);
Cv2.ImWrite(filename2, depth16);
}
}
// Display Progress
ProgressBar((float)svoPosition / (float)nbFrames, 30);
}
else if (zed.GetSVOPosition() >= nbFrames - (zed.GetInitParameters().svoRealTimeMode ? 2 : 1))
{
Console.WriteLine("SVO end has been reached. Exiting now.");
Environment.Exit(-1);
exit_app = true;
}
else
{
Console.WriteLine("Grab Error : " + err);
exit_app = true;
}
}
if (outputAsVideo)
{
//Close the video writer
videoWriter.Release();
}
zed.Close();
}
public void Run()
{
Mat img = Cv2.ImRead(FilePath.Image.Lenna, ImreadModes.GrayScale);
// expand input image to optimal size
Mat padded = new Mat();
int m = Cv2.GetOptimalDFTSize(img.Rows);
int n = Cv2.GetOptimalDFTSize(img.Cols); // on the border add zero values
Cv2.CopyMakeBorder(img, padded, 0, m - img.Rows, 0, n - img.Cols, BorderTypes.Constant, Scalar.All(0));
// Add to the expanded another plane with zeros
Mat paddedF32 = new Mat();
padded.ConvertTo(paddedF32, MatType.CV_32F);
Mat[] planes = { paddedF32, Mat.Zeros(padded.Size(), MatType.CV_32F) };
Mat complex = new Mat();
Cv2.Merge(planes, complex);
// this way the result may fit in the source matrix
Mat dft = new Mat();
Cv2.Dft(complex, dft);
// compute the magnitude and switch to logarithmic scale
// => log(1 + sqrt(Re(DFT(I))^2 + Im(DFT(I))^2))
Mat[] dftPlanes;
Cv2.Split(dft, out dftPlanes); // planes[0] = Re(DFT(I), planes[1] = Im(DFT(I))
// planes[0] = magnitude
Mat magnitude = new Mat();
Cv2.Magnitude(dftPlanes[0], dftPlanes[1], magnitude);
magnitude += Scalar.All(1); // switch to logarithmic scale
Cv2.Log(magnitude, magnitude);
// crop the spectrum, if it has an odd number of rows or columns
Mat spectrum = magnitude[
new Rect(0, 0, magnitude.Cols & -2, magnitude.Rows & -2)];
// rearrange the quadrants of Fourier image so that the origin is at the image center
int cx = spectrum.Cols / 2;
int cy = spectrum.Rows / 2;
Mat q0 = new Mat(spectrum, new Rect(0, 0, cx, cy)); // Top-Left - Create a ROI per quadrant
Mat q1 = new Mat(spectrum, new Rect(cx, 0, cx, cy)); // Top-Right
Mat q2 = new Mat(spectrum, new Rect(0, cy, cx, cy)); // Bottom-Left
Mat q3 = new Mat(spectrum, new Rect(cx, cy, cx, cy)); // Bottom-Right
// swap quadrants (Top-Left with Bottom-Right)
Mat tmp = new Mat();
q0.CopyTo(tmp);
q3.CopyTo(q0);
tmp.CopyTo(q3);
// swap quadrant (Top-Right with Bottom-Left)
q1.CopyTo(tmp);
q2.CopyTo(q1);
tmp.CopyTo(q2);
// Transform the matrix with float values into a
Cv2.Normalize(spectrum, spectrum, 0, 1, NormTypes.MinMax);
// Show the result
Cv2.ImShow("Input Image" , img);
Cv2.ImShow("Spectrum Magnitude", spectrum);
// calculating the idft
Mat inverseTransform = new Mat();
Cv2.Dft(dft, inverseTransform, DftFlags.Inverse | DftFlags.RealOutput);
Cv2.Normalize(inverseTransform, inverseTransform, 0, 1, NormTypes.MinMax);
Cv2.ImShow("Reconstructed by Inverse DFT", inverseTransform);
Cv2.WaitKey();
}
