ZED相机获取图像python

import pyzed.sl as sl
import cv2
import numpy as np
import osclass CameraZed2:def __init__(self,resolution=None,fps=30,depthMode = None):self.zed = sl.Camera()self.input_type = sl.InputType()self.init_params = sl.InitParameters(input_t=self.input_type)# 设置分辨率if resolution == "2K":self.init_params.camera_resolution = sl.RESOLUTION.HD2Kelif resolution == "1080":self.init_params.camera_resolution = sl.RESOLUTION.HD1080else:  # 默认self.init_params.camera_resolution = sl.RESOLUTION.HD720self.init_params.camera_fps = fps  # 设置帧率# 设置获取深度信息的模式if depthMode == "PERFORMANCE":self.init_params.depth_mode = sl.DEPTH_MODE.PERFORMANCEelif depthMode == "QUALITY":self.init_params.depth_mode = sl.DEPTH_MODE.QUALITYelse:self.init_params.depth_mode = sl.DEPTH_MODE.ULTRAself.init_params.coordinate_units = sl.UNIT.MILLIMETER  # 单位毫米# 打开相机err = self.zed.open(self.init_params)if err != sl.ERROR_CODE.SUCCESS:print(repr(err))self.zed.close()exit(1)self.runtime = sl.RuntimeParameters()self.runtime.sensing_mode = sl.SENSING_MODE.STANDARDself.savepath = ''  # 标定图像保存的路径def grab_imgs(self):  # 捕获左右图像用于相机标定（文件夹自动创建）img_l = sl.Mat()img_r = sl.Mat()num = 0# 自动创建保存文件夹（分别存放左图和右图）import timename = time.strftime("%Y-%m-%d-%H-%M", time.localtime())self.savepath_L = './images/%s/L' % nameself.savepath_R = './images/%s/R' % nameos.makedirs(self.savepath_L,exist_ok=True)os.makedirs(self.savepath_R,exist_ok=True)while True:if self.zed.grab(self.runtime) == sl.ERROR_CODE.SUCCESS:self.zed.retrieve_image(img_l,sl.VIEW.LEFT)self.img_l = img_l.get_data()self.zed.retrieve_image(img_r,sl.VIEW.RIGHT)self.img_r = img_r.get_data()view = np.concatenate((self.img_l,self.img_r),axis=1)cv2.imshow('View',cv2.resize(view,(1920,540)))key = cv2.waitKey(1)if key & 0xFF == ord('s'):  # 按S同时保存左右图像savePath_L = os.path.join(self.savepath_L, "L{:0>3d}.png".format(num))print(savePath_L)cv2.imwrite(savePath_L, self.img_l)savePath_R = os.path.join(self.savepath_R, "R{:0>3d}.png".format(num))cv2.imwrite(savePath_R, self.img_r)num +=1if key & 0xFF == 27:  # 按esc退出视图窗口breakif __name__ == "__main__":cam = CameraZed2(resolution='1080',fps=30)cam.grab_imgs()  # 获取标定图像（左、右图）

注：在根目录中创建一个images的文件夹