基于Python的ZED2教程 2.获取图片

本教程将讲述如何获取左摄像头的图片，当获得50张图片时循环停止。

创建摄像头

创建并配置ZED摄像头，本教程将摄像头分辨率为H1080和帧速率30fps。

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

获取摄像头数据

首先需要调用Camera.grab()函数，这个函数也需要一些参数，在本教程中使用默认的参数。如果想要获得并处理一张图片，就必须调用这个函数。这个函数的返回值是状态信息，可以通过该函数知道是否摄像头有新的帧或者发生了故障。

# Grab an image
if (zed.grab() == sl.ERROR_CODE.SUCCESS) :
    # A new image is available 
    if grab() returns SUCCESS

接下来需要用到Camera.retrieve_image() 和 Camera.get_timestamp()这两个函数来获取图片和获取图片的时间。

zed.retrieve_image(image,sl.VIEW.LEFT) # Get the left 
imagetimestamp = zed.get_current_timestamp(sl.TIME_REFERENCE.IMAGE) # Get the timestamp of the image
print("Image resolution: ", image.get_width(), " x ", image.get_height()," || Image timestamp: ", timestamp.get_milliseconds())

retrieve_image()函数需要sl.Mat作为一个参数，同时也需要VIEW选项作为一个参数。在循环之前我们需要创建Mat类型。创建Mat类型时并不会分配内存，只有在调用retrieve_image()函数时才会分配内存。

# Capture 50 frames and stop
i = 0image = sl.Mat()
while (i < 50) :    
    # Grab an image    
    if (zed.grab() == sl.ERROR_CODE.SUCCESS) :  
        # A new image is available if grab() returns SUCCES
        zed.retrieve_image(image, sl.VIEW.LEFT)
        # Get the left image        
        timestamp = zed.get_timestamp(sl.TIME_REFERENCE.IMAGE) 
        # Get the timestamp at the time the image was captured  
        print("Image resolution: ", image.get_width(), " x ", image.get_height()," || Image timestamp: ", timestamp.get_milliseconds())        
        i = i+1

之后关闭摄像头即可。

# Close the camera
zed.close()return 0

示例代码

import pyzed.sl as sl
import cv2.cv2 as cv
def main():
    zed = sl.Camera()
    InitPara = sl.InitParameters()
    InitPara.camera_fps = 30    
    InitPara.camera_resolution = sl.RESOLUTION.HD720
    err = zed.open(InitPara)
    if err != sl.ERROR_CODE.SUCCESS:
        exit(-1)
    left_img = sl.Mat()
    runtimeParas = sl.RuntimeParameters()    
    while(True):    
        if zed.grab(runtimeParas) == sl.ERROR_CODE.SUCCESS:
            zed.retrieve_image(left_img, view=sl.VIEW.LEFT)
            time_stamp = zed.get_timestamp(sl.TIME_REFERENCE.CURRENT)            print(time_stamp.get_milliseconds())            
            img = left_img.get_data()            
            cv.imshow("img", img)            
            cv.waitKey(5)
if __name__ == "__main__":    main()