/// <summary>
/// Creates an OpenCV version of a ZED Mat.
/// </summary>
/// <param name="zedmat">Source ZED Mat.</param>
/// <param name="zedmattype">Type of ZED Mat - data type and channel number.
/// <returns></returns>
private static OpenCvSharp.Mat SLMat2CVMat(ref sl.Mat zedmat, MAT_TYPE zedmattype)
{
int cvmattype = SLMatType2CVMatType(zedmattype);
OpenCvSharp.Mat cvmat = new OpenCvSharp.Mat(zedmat.GetHeight(), zedmat.GetWidth(), cvmattype, zedmat.GetPtr());
return(cvmat);
}
static void Main(string[] args)
{
Camera zed = new Camera(0);
InitParameters initParameters = new InitParameters()
{
sdkVerbose = true,
resolution = RESOLUTION.HD720,
depthMode = DEPTH_MODE.NONE
};
parseArgs(args, ref initParameters);
ERROR_CODE returnedState = zed.Open(ref initParameters);
if (returnedState != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
string winName = "Camera control";
Cv2.NamedWindow(winName);
Console.WriteLine("ZED Model : " + zed.GetCameraModel());
Console.WriteLine("ZED Serial Number : " + zed.GetZEDSerialNumber());
Console.WriteLine("ZED Camera Firmware : " + zed.GetCameraFirmwareVersion());
Console.WriteLine("ZED Camera Resolution : " + zed.GetInitParameters().resolution);
Console.WriteLine("ZED Camera FPS : " + zed.GetInitParameters().cameraFPS);
// Print help control
printHelp();
sl.Mat zedImage = new sl.Mat();
zedImage.Create(new Resolution((uint)zed.ImageWidth, (uint)zed.ImageHeight), MAT_TYPE.MAT_8U_C4);
// Initialise camera setting
switchCameraSettings();
char key = ' ';
RuntimeParameters rtParams = new RuntimeParameters();
while (key != 'q')
{
// Check that a new image is successfully acquired
returnedState = zed.Grab(ref rtParams);
if (returnedState == ERROR_CODE.SUCCESS)
{
//Retrieve left image
zed.RetrieveImage(zedImage, VIEW.LEFT);
// Convert to cvMat
OpenCvSharp.Mat cvImage = new OpenCvSharp.Mat(zedImage.GetHeight(), zedImage.GetWidth(), OpenCvSharp.MatType.CV_8UC4, zedImage.GetPtr());
Cv2.ImShow(winName, cvImage);
}
else
{
Console.WriteLine("ERROR during capture");
break;
}
key = (char)Cv2.WaitKey(10);
// Change camera settings with keyboard
updateCameraSettings(key, ref zed);
}
}
public void pushNewImage(Mat zedImage)
{
// Update Texture with current zedImage
Gl.TexSubImage2D(TextureTarget.Texture2d, 0, 0, 0, zedImage.GetWidth(), zedImage.GetHeight(), PixelFormat.Rgba, PixelType.UnsignedByte, zedImage.GetPtr());
}
static void Main(string[] args)
{
// Set Initialization parameters
InitParameters init_params = new InitParameters();
init_params.resolution = RESOLUTION.HD1080;
Camera zedCamera = new Camera(0);
// Open the camera
ERROR_CODE err = zedCamera.Open(ref init_params);
if (err != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
// Get resolution of camera
uint mWidth = (uint)zedCamera.ImageWidth;
uint mHeight = (uint)zedCamera.ImageHeight;
// Initialize the Mat that will contain the left image
Mat image = new Mat();
image.Create(mWidth, mHeight, MAT_TYPE.MAT_8U_C4, MEM.CPU); // Mat need to be created before use.
// defin default Runtime parameters
RuntimeParameters runtimeParameters = new RuntimeParameters();
// Initialize runtime parameters and frame counter
int i = 0;
while (i < 1000)
{
if (zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
zedCamera.RetrieveImage(image, VIEW.LEFT); // Get the left image
ulong timestamp = zedCamera.GetCameraTimeStamp(); // Get image timestamp
Console.WriteLine("Image resolution: " + image.GetWidth() + "x" + image.GetHeight() + "|| Image timestamp: " + timestamp);
// increment frame count
i++;
}
}
// Disable positional tracking and close the camera
zedCamera.DisablePositionalTracking("");
zedCamera.Close();
}