static void Main(string[] args)
{
if (args.Length != 1)
{
Console.WriteLine("Usage: ");
Console.WriteLine(" ZED_SVO_Playback <SVO_file> ");
Console.WriteLine("* *SVO file is mandatory in the application * *");
Environment.Exit(-1);
}
// Create ZED Camera
Camera zed = new Camera(0);
//Specify SVO path parameters
InitParameters initParameters = new InitParameters()
{
inputType = INPUT_TYPE.SVO,
pathSVO = args[0],
svoRealTimeMode = true,
depthMode = DEPTH_MODE.PERFORMANCE
};
ERROR_CODE state = zed.Open(ref initParameters);
if (state != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
Resolution resolution = zed.GetCalibrationParameters().leftCam.resolution;
// Define OpenCV window size (resize to max 720/404)
Resolution lowResolution = new Resolution((uint)Math.Min(720, (int)resolution.width) * 2, (uint)Math.Min(404, (int)resolution.height));
sl.Mat svoImage = new sl.Mat();
svoImage.Create(lowResolution, MAT_TYPE.MAT_8U_C4);
OpenCvSharp.Mat svoImageOCV = SLMat2CVMat(ref svoImage, MAT_TYPE.MAT_8U_C4);
//Setup key, images, times
char key = ' ';
Console.WriteLine("Press 's' to save SVO image as PNG");
Console.WriteLine("Press 'f' to jump forward in the video");
Console.WriteLine("Press 'b' to jump backard in the video");
Console.WriteLine("Press 'q' to exit...");
int svoFrameRate = zed.GetInitParameters().cameraFPS;
int nbFrames = zed.GetSVONumberOfFrames();
Console.WriteLine("[INFO] SVO contains " + nbFrames + " frames");
RuntimeParameters rtParams = new RuntimeParameters();
// Start SVO Playback
while (key != 'q')
{
state = zed.Grab(ref rtParams);
if (state == ERROR_CODE.SUCCESS)
{
//Get the side by side image
zed.RetrieveImage(svoImage, VIEW.SIDE_BY_SIDE, MEM.CPU, lowResolution);
int svoPosition = zed.GetSVOPosition();
//Display the frame
Cv2.ImShow("View", svoImageOCV);
key = (char)Cv2.WaitKey(10);
switch (key)
{
case 's':
svoImage.Write("capture" + svoPosition + ".png");
break;
case 'f':
zed.SetSVOPosition(svoPosition + svoFrameRate);
break;
case 'b':
zed.SetSVOPosition(svoPosition - svoFrameRate);
break;
}
ProgressBar((float)svoPosition / (float)nbFrames, 30);
}
else if (zed.GetSVOPosition() >= nbFrames - (zed.GetInitParameters().svoRealTimeMode ? 2 : 1))
{
Console.WriteLine("SVO end has been reached. Looping back to 0");
zed.SetSVOPosition(0);
}
else
{
Console.WriteLine("Grab Error : " + state);
break;
}
}
zed.Close();
}
