七、其他

1、相机控制

（1）选择视频模式

左右视频帧同步，以并排格式作为单个未压缩视频帧流式传输。

 在ZED Explorer或者使用API可以改变视频的分辨率和帧率。

（2）选择输出视图

ZED能以不同的格式输出图像，包括校正、未校正和灰度图像（左视图、右视图、并排视图、左未校正或右未校正、左灰度或右灰度）。

（3）调整相机设置

ZED相机具有板载ISP（图像信号处理器），可以对双图像传感器捕获的原始图像执行各种图像处理算法。ISP的参数可以通过ZED Explorer或者ZED SDK进行调整。

相机调整参数左右是同步的，不能单独调整。

当相机的白平衡、曝光和增益处于“自动”模式时，它们会根据场景中的亮度自动调整。

注意：在低光环境中增加Gamma设置。

使用API

（1）相机配置

创建一个camera对象并指定InitParameters。

初始参数可以调整分辨率、FPS、深度感知参数等等。这些参数只能在打开相机前设置，不能在相机的使用过程中更改。

# Create a ZED camera object
zed = sl.Camera()# Set configuration parameters
init_params = sl.InitParameters()
init_params.camera_resolution = sl.RESOLUTION.HD1080
init_params.camera_fps = 30# Open the camera
err = zed.open(init_params)
if err != sl.ERROR_CODE.SUCCESS:exit(-1)

 InitParameters包含默认配置。

（2）捕获图像

指定RuntimeParameters，调用grab()捕获新帧，调用retrieveImage()检索捕获的帧。

retrieveImage()可以在不同的视图之间进行选择，如左、右、未校正和灰度图像。

image = sl.Mat()
if zed.grab() == SUCCESS:# A new image is available if grab() returns SUCCESSzed.retrieve_image(image, sl.VIEW.LEFT) # Retrieve the left image

 （3）调整相机控制

曝光、白平衡等相机设置可以在运行时使用setcamersettings()手动设置。

要改变相机分辨率和帧率，使用InitParameters()。

# Set exposure to 50% of camera framerate
zed.set_camera_settings(sl.VIDEO_SETTINGS.EXPOSURE, 50)
# Set white balance to 4600K
zed.set_camera_settings(sl.VIDEO_SETTINGS.WHITE_BALANCE, 4600)
# Reset to auto exposure
zed.set_camera_settings(sl.VIDEO_SETTINGS.EXPOSURE, -1)

完整程序

"""Live camera sample showing the camera information and video in real time and allows to control the differentsettings.
"""import cv2
import pyzed.sl as slcamera_settings = sl.VIDEO_SETTINGS.BRIGHTNESS
str_camera_settings = "BRIGHTNESS"
step_camera_settings = 1def main():print("Running...")init = sl.InitParameters()cam = sl.Camera()if not cam.is_opened():print("Opening ZED Camera...")status = cam.open(init)if status != sl.ERROR_CODE.SUCCESS:print(repr(status))exit()runtime = sl.RuntimeParameters()mat = sl.Mat()print_camera_information(cam)print_help()key = ''while key != 113:  # for 'q' keyerr = cam.grab(runtime)if err == sl.ERROR_CODE.SUCCESS:cam.retrieve_image(mat, sl.VIEW.LEFT)cv2.imshow("ZED", mat.get_data())key = cv2.waitKey(5)settings(key, cam, runtime, mat)else:key = cv2.waitKey(5)cv2.destroyAllWindows()cam.close()print("\nFINISH")def print_camera_information(cam):print("Resolution: {0}, {1}.".format(round(cam.get_camera_information().camera_configuration.resolution.width, 2), cam.get_camera_information().camera_configuration.resolution.height))print("Camera FPS: {0}.".format(cam.get_camera_information().camera_configuration.fps))print("Firmware: {0}.".format(cam.get_camera_information().camera_configuration.firmware_version))print("Serial number: {0}.\n".format(cam.get_camera_information().serial_number))def print_help():print("Help for camera setting controls")print("  Increase camera settings value:     +")print("  Decrease camera settings value:     -")print("  Switch camera settings:             s")print("  Reset all parameters:               r")print("  Record a video:                     z")print("  Quit:                               q\n")def settings(key, cam, runtime, mat):if key == 115:  # for 's' keyswitch_camera_settings()elif key == 43:  # for '+' keycurrent_value = cam.get_camera_settings(camera_settings)[1]cam.set_camera_settings(camera_settings, current_value + step_camera_settings)print(str_camera_settings + ": " + str(current_value + step_camera_settings))elif key == 45:  # for '-' keycurrent_value = cam.get_camera_settings(camera_settings)[1]if current_value >= 1:cam.set_camera_settings(camera_settings, current_value - step_camera_settings)print(str_camera_settings + ": " + str(current_value - step_camera_settings))elif key == 114:  # for 'r' keycam.set_camera_settings(sl.VIDEO_SETTINGS.BRIGHTNESS, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.CONTRAST, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.HUE, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.SATURATION, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.SHARPNESS, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.GAIN, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.EXPOSURE, -1)cam.set_camera_settings(sl.VIDEO_SETTINGS.WHITEBALANCE_TEMPERATURE, -1)print("Camera settings: reset")elif key == 122:  # for 'z' keyrecord(cam, runtime, mat)def switch_camera_settings():global camera_settingsglobal str_camera_settingsif camera_settings == sl.VIDEO_SETTINGS.BRIGHTNESS:camera_settings = sl.VIDEO_SETTINGS.CONTRASTstr_camera_settings = "Contrast"print("Camera settings: CONTRAST")elif camera_settings == sl.VIDEO_SETTINGS.CONTRAST:camera_settings = sl.VIDEO_SETTINGS.HUEstr_camera_settings = "Hue"print("Camera settings: HUE")elif camera_settings == sl.VIDEO_SETTINGS.HUE:camera_settings = sl.VIDEO_SETTINGS.SATURATIONstr_camera_settings = "Saturation"print("Camera settings: SATURATION")elif camera_settings == sl.VIDEO_SETTINGS.SATURATION:camera_settings = sl.VIDEO_SETTINGS.SHARPNESSstr_camera_settings = "Sharpness"print("Camera settings: Sharpness")elif camera_settings == sl.VIDEO_SETTINGS.SHARPNESS:camera_settings = sl.VIDEO_SETTINGS.GAINstr_camera_settings = "Gain"print("Camera settings: GAIN")elif camera_settings == sl.VIDEO_SETTINGS.GAIN:camera_settings = sl.VIDEO_SETTINGS.EXPOSUREstr_camera_settings = "Exposure"print("Camera settings: EXPOSURE")elif camera_settings == sl.VIDEO_SETTINGS.EXPOSURE:camera_settings = sl.VIDEO_SETTINGS.WHITEBALANCE_TEMPERATUREstr_camera_settings = "White Balance"print("Camera settings: WHITEBALANCE")elif camera_settings == sl.VIDEO_SETTINGS.WHITEBALANCE_TEMPERATURE:camera_settings = sl.VIDEO_SETTINGS.BRIGHTNESSstr_camera_settings = "Brightness"print("Camera settings: BRIGHTNESS")def record(cam, runtime, mat):vid = sl.ERROR_CODE.FAILUREout = Falsewhile vid != sl.ERROR_CODE.SUCCESS and not out:filepath = input("Enter filepath name: ")record_param = sl.RecordingParameters(filepath)vid = cam.enable_recording(record_param)print(repr(vid))if vid == sl.ERROR_CODE.SUCCESS:print("Recording started...")out = Trueprint("Hit spacebar to stop recording: ")key = Falsewhile key != 32:  # for spacebarerr = cam.grab(runtime)if err == sl.ERROR_CODE.SUCCESS:cam.retrieve_image(mat)cv2.imshow("ZED", mat.get_data())key = cv2.waitKey(5)else:print("Help: you must enter the filepath + filename + SVO extension.")print("Recording not started.")cam.disable_recording()print("Recording finished.")cv2.destroyAllWindows()if __name__ == "__main__":main()