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crosstyan
2026-02-07 04:16:41 +00:00
parent ddb7054f96
commit cdc4f9eec4
28 changed files with 633 additions and 220 deletions
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py_workspace/depth_sensing.py
+66 -52
View File
@@ -1,26 +1,6 @@
########################################################################
#
# Copyright (c) 2022, STEREOLABS.
#
# All rights reserved.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
########################################################################
"""
This sample demonstrates how to capture a live 3D point cloud
with the ZED SDK and display the result in an OpenGL window.
This sample demonstrates how to capture a live 3D point cloud
with the ZED SDK and display the result in an OpenGL window.
"""
import sys
@@ -28,47 +8,56 @@ import ogl_viewer.viewer as gl
import pyzed.sl as sl
import argparse
def parse_args(init, opt):
if len(opt.input_svo_file)>0 and opt.input_svo_file.endswith((".svo", ".svo2")):
if len(opt.input_svo_file) > 0 and opt.input_svo_file.endswith((".svo", ".svo2")):
init.set_from_svo_file(opt.input_svo_file)
print("[Sample] Using SVO File input: {0}".format(opt.input_svo_file))
elif len(opt.ip_address)>0 :
elif len(opt.ip_address) > 0:
ip_str = opt.ip_address
if ip_str.replace(':','').replace('.','').isdigit() and len(ip_str.split('.'))==4 and len(ip_str.split(':'))==2:
init.set_from_stream(ip_str.split(':')[0],int(ip_str.split(':')[1]))
print("[Sample] Using Stream input, IP : ",ip_str)
elif ip_str.replace(':','').replace('.','').isdigit() and len(ip_str.split('.'))==4:
if (
ip_str.replace(":", "").replace(".", "").isdigit()
and len(ip_str.split(".")) == 4
and len(ip_str.split(":")) == 2
):
init.set_from_stream(ip_str.split(":")[0], int(ip_str.split(":")[1]))
print("[Sample] Using Stream input, IP : ", ip_str)
elif (
ip_str.replace(":", "").replace(".", "").isdigit()
and len(ip_str.split(".")) == 4
):
init.set_from_stream(ip_str)
print("[Sample] Using Stream input, IP : ",ip_str)
else :
print("[Sample] Using Stream input, IP : ", ip_str)
else:
print("Unvalid IP format. Using live stream")
if ("HD2K" in opt.resolution):
if "HD2K" in opt.resolution:
init.camera_resolution = sl.RESOLUTION.HD2K
print("[Sample] Using Camera in resolution HD2K")
elif ("HD1200" in opt.resolution):
elif "HD1200" in opt.resolution:
init.camera_resolution = sl.RESOLUTION.HD1200
print("[Sample] Using Camera in resolution HD1200")
elif ("HD1080" in opt.resolution):
elif "HD1080" in opt.resolution:
init.camera_resolution = sl.RESOLUTION.HD1080
print("[Sample] Using Camera in resolution HD1080")
elif ("HD720" in opt.resolution):
elif "HD720" in opt.resolution:
init.camera_resolution = sl.RESOLUTION.HD720
print("[Sample] Using Camera in resolution HD720")
elif ("SVGA" in opt.resolution):
elif "SVGA" in opt.resolution:
init.camera_resolution = sl.RESOLUTION.SVGA
print("[Sample] Using Camera in resolution SVGA")
elif ("VGA" in opt.resolution):
elif "VGA" in opt.resolution:
init.camera_resolution = sl.RESOLUTION.VGA
print("[Sample] Using Camera in resolution VGA")
elif len(opt.resolution)>0:
elif len(opt.resolution) > 0:
print("[Sample] No valid resolution entered. Using default")
else :
else:
print("[Sample] Using default resolution")
def main(opt):
print("Running Depth Sensing sample ... Press 'Esc' to quit\nPress 's' to save the point cloud")
print(
"Running Depth Sensing sample ... Press 'Esc' to quit\nPress 's' to save the point cloud"
)
# Determine memory type based on CuPy availability and user preference
use_gpu = gl.GPU_ACCELERATION_AVAILABLE and not opt.disable_gpu_data_transfer
@@ -76,9 +65,11 @@ def main(opt):
if use_gpu:
print("🚀 Using GPU data transfer with CuPy")
init = sl.InitParameters(depth_mode=sl.DEPTH_MODE.NEURAL,
coordinate_units=sl.UNIT.METER,
coordinate_system=sl.COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP)
init = sl.InitParameters(
depth_mode=sl.DEPTH_MODE.NEURAL,
coordinate_units=sl.UNIT.METER,
coordinate_system=sl.COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP,
)
parse_args(init, opt)
zed = sl.Camera()
status = zed.open(init)
@@ -107,9 +98,11 @@ def main(opt):
if viewer.save_data:
# For saving, we take CPU memory regardless of processing type
point_cloud_to_save = sl.Mat()
zed.retrieve_measure(point_cloud_to_save, sl.MEASURE.XYZRGBA, sl.MEM.CPU)
err = point_cloud_to_save.write('Pointcloud.ply')
if(err == sl.ERROR_CODE.SUCCESS):
zed.retrieve_measure(
point_cloud_to_save, sl.MEASURE.XYZRGBA, sl.MEM.CPU
)
err = point_cloud_to_save.write("Pointcloud.ply")
if err == sl.ERROR_CODE.SUCCESS:
print("Current .ply file saving succeed")
else:
print("Current .ply file failed")
@@ -120,12 +113,33 @@ def main(opt):
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('--input_svo_file', type=str, help='Path to an .svo file, if you want to replay it',default = '')
parser.add_argument('--ip_address', type=str, help='IP Adress, in format a.b.c.d:port or a.b.c.d, if you have a streaming setup', default = '')
parser.add_argument('--resolution', type=str, help='Resolution, can be either HD2K, HD1200, HD1080, HD720, SVGA or VGA', default = '')
parser.add_argument('--disable-gpu-data-transfer', action='store_true', help='Disable GPU data transfer acceleration with CuPy even if CuPy is available')
parser.add_argument(
"--input_svo_file",
type=str,
help="Path to an .svo file, if you want to replay it",
default="",
)
parser.add_argument(
"--ip_address",
type=str,
help="IP Adress, in format a.b.c.d:port or a.b.c.d, if you have a streaming setup",
default="",
)
parser.add_argument(
"--resolution",
type=str,
help="Resolution, can be either HD2K, HD1200, HD1080, HD720, SVGA or VGA",
default="",
)
parser.add_argument(
"--disable-gpu-data-transfer",
action="store_true",
help="Disable GPU data transfer acceleration with CuPy even if CuPy is available",
)
opt = parser.parse_args()
if len(opt.input_svo_file)>0 and len(opt.ip_address)>0:
print("Specify only input_svo_file or ip_address, or none to use wired camera, not both. Exit program")
if len(opt.input_svo_file) > 0 and len(opt.ip_address) > 0:
print(
"Specify only input_svo_file or ip_address, or none to use wired camera, not both. Exit program"
)
exit()
main(opt)