camera.py

########################################################################
#
# 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.
#
########################################################################

import sys
from signal import signal, SIGINT
import argparse


import pyzed.sl as sl

cam = sl.Camera()

#Handler to deal with CTRL+C properly
def handler(signal_received, frame):
    cam.disable_recording()
    cam.close()
    sys.exit(0)

signal(SIGINT, handler)

def main():

    init = sl.InitParameters()
    init.depth_mode = sl.DEPTH_MODE.NONE # Set configuration parameters for the ZED

    status = cam.open(init)
    if status != sl.ERROR_CODE.SUCCESS:
        print("Camera Open", status, "Exit program.")
        exit(1)

    recording_param = sl.RecordingParameters(opt.output_svo_file, sl.SVO_COMPRESSION_MODE.H264) # Enable recording with the filename specified in argument
    err = cam.enable_recording(recording_param)
    if err != sl.ERROR_CODE.SUCCESS:
        print("Recording ZED : ", err)
        exit(1)

    runtime = sl.RuntimeParameters()
    print("SVO is Recording, use Ctrl-C to stop.") # Start recording SVO, stop with Ctrl-C command
    frames_recorded = 0

    while True:
        if cam.grab(runtime) == sl.ERROR_CODE.SUCCESS : # Check that a new image is successfully acquired
            frames_recorded += 1
            print("Frame count: " + str(frames_recorded), end="\r")

if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument('--output_svo_file', type=str, help='Path to the SVO file that will be written', required= True)
    opt = parser.parse_args()
    if not opt.output_svo_file.endswith(".svo") and not opt.output_svo_file.endswith(".svo2"):
        print("--output_svo_file parameter should be a .svo file but is not : ",opt.output_svo_file,"Exit program.")
        exit()
    main()