private void th_grab(int height = 0, int width = 0, int snap_wait = 500)
{
try
{
// Set the acquisition mode to free running continuous acquisition when the camera is opened.
camera.CameraOpened += Configuration.AcquireContinuous;
// Open the connection to the camera device.
camera.Open();
if (width == 0 || width > camera.Parameters[PLCamera.Width].GetMaximum())
{
camera.Parameters[PLCamera.Width].SetValue(camera.Parameters[PLCamera.Width].GetMaximum());
}
else if (width < camera.Parameters[PLCamera.Width].GetMinimum())
{
camera.Parameters[PLCamera.Width].SetValue(camera.Parameters[PLCamera.Width].GetMinimum());
}
else
{
camera.Parameters[PLCamera.Width].SetValue(width);
}
if (height == 0 || width > camera.Parameters[PLCamera.Height].GetMaximum())
{
camera.Parameters[PLCamera.Height].SetValue(camera.Parameters[PLCamera.Height].GetMaximum());
}
else if (height < camera.Parameters[PLCamera.Height].GetMinimum())
{
camera.Parameters[PLCamera.Height].SetValue(camera.Parameters[PLCamera.Height].GetMinimum());
}
else
{
camera.Parameters[PLCamera.Height].SetValue(height);
}
camera.Parameters[PLCamera.CenterX].SetValue(true);
camera.Parameters[PLCamera.CenterY].SetValue(true);
camera.StreamGrabber.Start();
if (saveTracked)
{
var expected = new OpenCvSharp.Size(1920, 1374);
string filename = "D:\\save\\" + DateTime.Now.ToString("M.dd-HH.mm.ss") + ".avi";
videoWriter.Open(filename, OpenCvSharp.FourCCValues.XVID, 14, expected, false);
}
if (saveOrigin)
{
var expected = new OpenCvSharp.Size(1920, 1374);
string filename = "D:\\save\\" + DateTime.Now.ToString("M.dd-HH.mm.ss") + ".origin.avi";
originWriter.Open(filename, OpenCvSharp.FourCCValues.XVID, 14, expected, false);
}
if (saveHisto)
{
var expected = new OpenCvSharp.Size(256, 300);
string filename = "D:\\save\\" + DateTime.Now.ToString("M.dd-HH.mm.ss") + ".histo.avi";
histoWriter.Open(filename, OpenCvSharp.FourCCValues.XVID, 14, expected, false);
}
if (saveHeatmap)
{
var expected = new OpenCvSharp.Size(1920, 1374);
string filename = "D:\\save\\" + DateTime.Now.ToString("M.dd-HH.mm.ss") + ".heatmap.avi";
heatmapWriter.Open(filename, OpenCvSharp.FourCCValues.XVID, 14, expected, true);
}
while (grabbing)
{
camera.Parameters[PLCamera.Gain].SetValue(valueGain);
camera.Parameters[PLCamera.ExposureTime].SetValue(valueExpTime);
IGrabResult grabResult = camera.StreamGrabber.RetrieveResult(5000, TimeoutHandling.ThrowException);
using (grabResult)
{
if (grabResult.GrabSucceeded)
{
// convert image from basler IImage to OpenCV Mat
Mat img = convertIImage2Mat(grabResult);
// convert image from BayerBG to RGB
Cv2.CvtColor(img, img, ColorConversionCodes.BayerBG2GRAY);
Cv2.Resize(img, img, new OpenCvSharp.Size(1920, 1374), 0, 0, InterpolationFlags.Linear);
Mat histo = new Mat();
Mat heatmap = new Mat();
Mat dst = img.Clone();
// Apply Histogram
histo = cvProcess.histogram(dst);
// Apply ColorMap
Cv2.ApplyColorMap(dst, heatmap, ColormapTypes.Rainbow);
// Apply Background map subtraction
Cv2.Subtract(dst, -5, dst);
if (saveOrigin)
{
originWriter.Write(img);
}
// Create Tracked Image
dst = Iso11146(img, dst);
Cv2.Resize(dst, dst, new OpenCvSharp.Size(1920, 1374), 0, 0, InterpolationFlags.Linear);
if (saveTracked)
{
videoWriter.Write(dst);
}
if (saveHisto)
{
histoWriter.Write(histo);
}
if (saveHeatmap)
{
heatmapWriter.Write(heatmap);
}
// resize image to fit the imageBox
Cv2.Resize(dst, dst, new OpenCvSharp.Size(960, 687), 0, 0, InterpolationFlags.Linear);
Cv2.Resize(heatmap, heatmap, new OpenCvSharp.Size(256, 183), 0, 0, InterpolationFlags.Linear);
Cv2.Rectangle(dst, new OpenCvSharp.Rect(axis_x, axis_y, axis_scale, axis_scale), Scalar.White, 1);
// display images
BitmapToImageSource(dst);
BitmapHistoToImageSource(histo);
BitmapHeatmapToImageSource(heatmap);
}
else
{
System.Windows.MessageBox.Show("Error: {0} {1}" + grabResult.ErrorCode, grabResult.ErrorDescription);
}
}
count++;
if (count > 500)
{
count = 0;
tracking = false;
}
Thread.Sleep(snap_wait);
}
videoWriter.Release();
originWriter.Release();
histoWriter.Release();
heatmapWriter.Release();
camera.StreamGrabber.Stop();
camera.Close();
}
catch (Exception exception)
{
if (camera.IsOpen)
{
camera.Close();
}
System.Windows.MessageBox.Show("Exception: {0}" + exception.Message);
}
}
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();
}
