zed_svo只导出左视图的视频

zed_svo只导出左视图的视频

zed官方提供的代码无法只导出左视图的视频，以下代码更改路径后可直接食用

import sys
import pyzed.sl as sl
import numpy as np
import cv2
from pathlib import Path
import traceback

def progress_bar(percent_done, bar_length=50):
    done_length = int(bar_length * percent_done / 100)
    bar = '=' * done_length + '-' * (bar_length - done_length)
    sys.stdout.write('[%s] %f%s\r' % (bar, percent_done, '%'))
    sys.stdout.flush()

try:
    # Get input parameters
    svo_input_path = Path(r'K:\11-15-11.svo') #svo文件路径
    output_path = Path(r'K:\1.avi')#输出的avi文件路径
    output_as_video = True    

    # Specify SVO path parameter
    init_params = sl.InitParameters()
    init_params.set_from_svo_file(str(svo_input_path))
    init_params.svo_real_time_mode = False  # Don't convert in realtime
    init_params.coordinate_units = sl.UNIT.MILLIMETER  # Use milliliter units (for depth measurements)

    # Create ZED objects
    zed = sl.Camera()

    # Open the SVO file specified as a parameter
    err = zed.open(init_params)
    if err != sl.ERROR_CODE.SUCCESS:
        sys.stdout.write(repr(err))
        zed.close()
        exit()

    # Get image size
    image_size = zed.get_camera_information().camera_resolution
    width = image_size.width
    height = image_size.height

    # create video object
    video_writer = cv2.VideoWriter(
        str(output_path),
        cv2.VideoWriter_fourcc('M', '4', 'S', '2'),
        max(zed.get_camera_information().camera_fps, 25),
        (width, height)
    )

    # parameters
    rt_param = sl.RuntimeParameters()
    rt_param.sensing_mode = sl.SENSING_MODE.FILL
    nb_frames = zed.get_svo_number_of_frames()

    # Prepare single image containers
    left_image = sl.Mat()
    #right_image = sl.Mat()
    #depth_image = sl.Mat()

    # empty RGBA image
    img_rgba = np.zeros((height, width, 4), dtype=np.uint8)

    while True:
        if zed.grab(rt_param) == sl.ERROR_CODE.SUCCESS:
            svo_position = zed.get_svo_position()

            # Retrieve SVO images
            zed.retrieve_image(left_image, sl.VIEW.LEFT)
            #zed.retrieve_image(right_image, sl.VIEW.RIGHT)
            #zed.retrieve_image(depth_image, sl.VIEW.DEPTH)

            if output_as_video:
                #img_right = right_image.get_data()
                #img_depth = depth_image.get_data()
                img_rgba = left_image.get_data()
                img_out = cv2.cvtColor(img_rgba, cv2.COLOR_RGBA2RGB)
                video_writer.write(img_out)

        progress_bar((svo_position + 1) / nb_frames * 100, 30)

        # Check if we have reached the end of the video
        if svo_position >= (nb_frames - 1):  # End of SVO
            sys.stdout.write("\nSVO end has been reached. Exiting now.\n")
            break

except Exception as ex:
    traceback.print_exc()
finally:
    zed.close()