/// <summary>
/// Create from string (length == 4)
/// </summary>
/// <param name="code"></param>
/// <returns></returns>
public static FourCC FromString(string code)
{
if (code == null)
{
throw new ArgumentNullException(nameof(code));
}
if (code.Length == 0)
{
throw new ArgumentException("code.Length == 0", nameof(code));
}
if (code.Length > 4)
{
throw new ArgumentException("code.Length > 4", nameof(code));
}
// padding
while (code.Length < 4)
{
code += " ";
}
var value = VideoWriter.FourCC(code[0], code[1], code[2], code[3]);
return(new FourCC(value));
}
/// <summary>
/// Create from string (length == 4)
/// </summary>
/// <param name="code"></param>
/// <returns></returns>
public static FourCC FromString(string code)
{
if (code == null)
{
throw new ArgumentNullException(nameof(code));
}
if (code.Length != 4)
{
throw new ArgumentException("code.Length != 4", nameof(code));
}
var value = VideoWriter.FourCC(code[0], code[1], code[2], code[3]);
return(new FourCC(value));
}
/// <summary>
/// Create from four characters
/// </summary>
/// <param name="c1"></param>
/// <param name="c2"></param>
/// <param name="c3"></param>
/// <param name="c4"></param>
/// <returns></returns>
public static FourCC FromFourChars(char c1, char c2, char c3, char c4)
{
var value = VideoWriter.FourCC(c1, c2, c3, c4);
return(new FourCC(value));
}
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()
{
const string OutVideoFile = "out.avi";
// Opens MP4 file (ffmpeg is probably needed)
VideoCapture capture = new VideoCapture(FilePath.Movie.Bach);
// Read movie frames and write them to VideoWriter
Size dsize = new Size(640, 480);
using (VideoWriter writer = new VideoWriter(OutVideoFile, -1, capture.Fps, dsize))
{
Console.WriteLine("Converting each movie frames...");
Mat frame = new Mat();
while(true)
{
// Read image
capture.Read(frame);
if(frame.Empty())
break;
Console.CursorLeft = 0;
Console.Write("{0} / {1}", capture.PosFrames, capture.FrameCount);
// grayscale -> canny -> resize
Mat gray = new Mat();
Mat canny = new Mat();
Mat dst = new Mat();
Cv2.CvtColor(frame, gray, ColorConversionCodes.BGR2GRAY);
Cv2.Canny(gray, canny, 100, 180);
Cv2.Resize(canny, dst, dsize, 0, 0, InterpolationFlags.Linear);
// Write mat to VideoWriter
writer.Write(dst);
}
Console.WriteLine();
}
// Watch result movie
using (VideoCapture capture2 = new VideoCapture(OutVideoFile))
using (Window window = new Window("result"))
{
int sleepTime = (int)(1000 / capture.Fps);
Mat frame = new Mat();
while (true)
{
capture2.Read(frame);
if(frame.Empty())
break;
window.ShowImage(frame);
Cv2.WaitKey(sleepTime);
}
}
}
