28 #include <opencv2/opencv.hpp>
34 int main(
int argc,
char *argv[])
49 std::cerr <<
"Cannot open camera video capture" << std::endl;
50 std::cerr <<
"See verbosity level for more details." << std::endl;
62 std::cerr <<
"Cannot open camera video capture" << std::endl;
63 std::cerr <<
"See verbosity level for more details." << std::endl;
72 bool autoSettingEnable =
true;
83 uint64_t lastFrameTs = 0;
94 if(frame_0.
data!=
nullptr && frame_1.
data!=
nullptr)
101 double elapsed_sec = now - lastTime;
103 std::cout <<
"[System] Frame period: " << elapsed_sec <<
"sec - Freq: " << 1./elapsed_sec <<
" Hz" << std::endl;
107 double frame_dT =
static_cast<double>(frame.timestamp-lastFrameTs)/1e9;
108 std::cout <<
"[Camera] Frame period: " << frame_dT <<
"sec - Freq: " << 1./frame_dT <<
" Hz" << std::endl;
115 cv::Mat frameYUV_0 = cv::Mat( frame_0.
height, frame_0.
width, CV_8UC2, frame_0.
data );
117 cv::Mat frameYUV_1 = cv::Mat( frame_1.
height, frame_1.
width, CV_8UC2, frame_1.
data );
119 cv::cvtColor(frameYUV_0,frameBGR_0,cv::COLOR_YUV2BGR_YUYV);
120 cv::cvtColor(frameYUV_1,frameBGR_1,cv::COLOR_YUV2BGR_YUYV);
130 int key = cv::waitKey( 5 );
131 if(key==
'q' || key==
'Q')
133 if(key==
'a' || key==
'A')
135 autoSettingEnable = !autoSettingEnable;
142 std::cout <<
"Auto GAIN/EXPOSURE and Auto White Balance: " << (autoSettingEnable?
"ENABLED":
"DISABLED") << std::endl;
The VideoCapture class provides image grabbing functions and settings control for all the Stereolabs ...
const Frame & getLastFrame(uint64_t timeout_msec=100)
Get the last received camera image.
bool initializeVideo(int devId=-1)
Open a ZED camera using the specified ID or searching for the first available.
int setAECAGC(bool active)
Enable/Disable the automatic Exposure and Gain control.
std::string getDeviceName()
Retrieve the OS device name.
void setAutoWhiteBalance(bool active)
Enable/Disable the automatic White Balance control.
int getSerialNumber()
Retrieve the serial number of the connected camera.
uint64_t getSteadyTimestamp()
Get the current system clock as steady clock, so with no jumps even if the system time changes.
@ FPS_60
60 Frames per second. Not available for RESOLUTION::HD2K and RESOLUTION::HD1080.
The Frame struct containing the acquired video frames.
uint64_t timestamp
Timestamp in nanoseconds.
uint16_t height
Frame height.
uint16_t width
Frame width.
uint8_t * data
Frame data in YUV 4:2:2 format.
The camera configuration parameters.
RESOLUTION res
Camera resolution.
FPS fps
Frames per second.
int main(int argc, char *argv[])
sl_oc::video::VideoParams params