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Stable API (stereolabs#62)
* API break, major changes: removed Py prefix, move to unified sl namespace
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‎LICENSE

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
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MIT License
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3-
Copyright (c) 2017 Stereolabs
3+
Copyright (c) 2018 Stereolabs
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Permission is hereby granted, free of charge, to any person obtaining a copy
66
of this software and associated documentation files (the "Software"), to deal

‎README.md

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Original file line numberDiff line numberDiff line change
@@ -1,7 +1,13 @@
1-
# Stereolabs ZED - Python Integration (beta)
1+
# Stereolabs ZED - Python API
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33
This package lets you use the ZED stereo camera in Python 3.
44

5+
## Stable API notice
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7+
The ZED Python API is now stable but has some breaking changes from the previous (beta) version. The older beta version can be found in the [legacy branch](https://github.com/stereolabs/zed-python-api/tree/legacy).
8+
9+
The changes were made to better reflect the C++ API and ease of use. Mainly all classes have a similar name to the C++ SDK (without the "Py" prefix), and all components were migrated to a unified `sl` namespace.
10+
511
## Getting started
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713
- First, download the latest version of the ZED SDK on [stereolabs.com](https://www.stereolabs.com/developers)
@@ -63,18 +69,12 @@ You can use `python setup.py cleanall` to remove every cpp files generated and b
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6470
Import the packages in your Python terminal or file like this:
6571
```
66-
import pyzed.camera as zcam
67-
import pyzed.core as mat
68-
import pyzed.defines as sl
69-
import pyzed.types as types
70-
import pyzed.mesh as mesh
71-
import numpy as np
72+
import pyzed.sl as sl
7273
```
74+
7375
Vectors operations like norm, sum, square, dot, cross, distance but also simple operations can be done with
7476
Numpy package.
7577

76-
**Note:** **pyzed.camera* is linked with *pyzed.core* and *pyzed.mesh* packages so you must import *pyzed.camera* before *pyzed.core* and *pyzed.mesh* to avoid import errors.
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7878
### Run the tutorials
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The [tutorials](tutorials) provide simple projects to show how to use each module of the ZED SDK. For a similar version using the C++ API checkout the [Cpp tutorials](https://github.com/stereolabs/zed-examples/tree/master/tutorials).
@@ -85,4 +85,4 @@ Please refer to the [examples](examples) README for more informations.
8585

8686
## Contributing
8787

88-
This is a beta version of the wrapper. Feel free to open an issue if you find a bug, or a pull request for bug fixes, features or other improvements.
88+
Feel free to open an issue if you find a bug, or a pull request for bug fixes, features or other improvements.

‎examples/README.md

+15
Original file line numberDiff line numberDiff line change
@@ -34,3 +34,18 @@ Mesh sample shows mesh information after filtering and applying texture on frame
3434
python examples/mesh_example.py svo_file.svo
3535
```
3636

37+
### Object
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39+
Object sample shows the objects detected and tracked by the AI module with their bouding boxes and their 3D positions
40+
41+
```
42+
python examples/object_example.py
43+
```
44+
45+
### Plane
46+
47+
Plane sample is searching for the floor in a video and extracts it into a mesh if it found it.
48+
49+
```
50+
python examples/plane_example.py svo_file.svo
51+
```

‎examples/live_camera.py

+34-37
Original file line numberDiff line numberDiff line change
@@ -24,38 +24,35 @@
2424
"""
2525

2626
import cv2
27-
import pyzed.camera as zcam
28-
import pyzed.types as tp
29-
import pyzed.core as core
30-
import pyzed.defines as sl
27+
import pyzed.sl as sl
3128

32-
camera_settings = sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_BRIGHTNESS
29+
camera_settings = sl.CAMERA_SETTINGS.CAMERA_SETTINGS_BRIGHTNESS
3330
str_camera_settings = "BRIGHTNESS"
3431
step_camera_settings = 1
3532

3633

3734
def main():
3835
print("Running...")
39-
init = zcam.PyInitParameters()
40-
cam = zcam.PyZEDCamera()
36+
init = sl.InitParameters()
37+
cam = sl.Camera()
4138
if not cam.is_opened():
4239
print("Opening ZED Camera...")
4340
status = cam.open(init)
44-
if status != tp.PyERROR_CODE.PySUCCESS:
41+
if status != sl.ERROR_CODE.SUCCESS:
4542
print(repr(status))
4643
exit()
4744

48-
runtime = zcam.PyRuntimeParameters()
49-
mat = core.PyMat()
45+
runtime = sl.RuntimeParameters()
46+
mat = sl.Mat()
5047

5148
print_camera_information(cam)
5249
print_help()
5350

5451
key = ''
5552
while key != 113: # for 'q' key
5653
err = cam.grab(runtime)
57-
if err == tp.PyERROR_CODE.PySUCCESS:
58-
cam.retrieve_image(mat, sl.PyVIEW.PyVIEW_LEFT)
54+
if err == sl.ERROR_CODE.SUCCESS:
55+
cam.retrieve_image(mat, sl.VIEW.VIEW_LEFT)
5956
cv2.imshow("ZED", mat.get_data())
6057
key = cv2.waitKey(5)
6158
settings(key, cam, runtime, mat)
@@ -97,13 +94,13 @@ def settings(key, cam, runtime, mat):
9794
cam.set_camera_settings(camera_settings, current_value - step_camera_settings)
9895
print(str_camera_settings + ": " + str(current_value - step_camera_settings))
9996
elif key == 114: # for 'r' key
100-
cam.set_camera_settings(sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_BRIGHTNESS, -1, True)
101-
cam.set_camera_settings(sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_CONTRAST, -1, True)
102-
cam.set_camera_settings(sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_HUE, -1, True)
103-
cam.set_camera_settings(sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_SATURATION, -1, True)
104-
cam.set_camera_settings(sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_GAIN, -1, True)
105-
cam.set_camera_settings(sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_EXPOSURE, -1, True)
106-
cam.set_camera_settings(sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_WHITEBALANCE, -1, True)
97+
cam.set_camera_settings(sl.CAMERA_SETTINGS.CAMERA_SETTINGS_BRIGHTNESS, -1, True)
98+
cam.set_camera_settings(sl.CAMERA_SETTINGS.CAMERA_SETTINGS_CONTRAST, -1, True)
99+
cam.set_camera_settings(sl.CAMERA_SETTINGS.CAMERA_SETTINGS_HUE, -1, True)
100+
cam.set_camera_settings(sl.CAMERA_SETTINGS.CAMERA_SETTINGS_SATURATION, -1, True)
101+
cam.set_camera_settings(sl.CAMERA_SETTINGS.CAMERA_SETTINGS_GAIN, -1, True)
102+
cam.set_camera_settings(sl.CAMERA_SETTINGS.CAMERA_SETTINGS_EXPOSURE, -1, True)
103+
cam.set_camera_settings(sl.CAMERA_SETTINGS.CAMERA_SETTINGS_WHITEBALANCE, -1, True)
107104
print("Camera settings: reset")
108105
elif key == 122: # for 'z' key
109106
record(cam, runtime, mat)
@@ -112,51 +109,51 @@ def settings(key, cam, runtime, mat):
112109
def switch_camera_settings():
113110
global camera_settings
114111
global str_camera_settings
115-
if camera_settings == sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_BRIGHTNESS:
116-
camera_settings = sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_CONTRAST
112+
if camera_settings == sl.CAMERA_SETTINGS.CAMERA_SETTINGS_BRIGHTNESS:
113+
camera_settings = sl.CAMERA_SETTINGS.CAMERA_SETTINGS_CONTRAST
117114
str_camera_settings = "Contrast"
118115
print("Camera settings: CONTRAST")
119-
elif camera_settings == sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_CONTRAST:
120-
camera_settings = sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_HUE
116+
elif camera_settings == sl.CAMERA_SETTINGS.CAMERA_SETTINGS_CONTRAST:
117+
camera_settings = sl.CAMERA_SETTINGS.CAMERA_SETTINGS_HUE
121118
str_camera_settings = "Hue"
122119
print("Camera settings: HUE")
123-
elif camera_settings == sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_HUE:
124-
camera_settings = sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_SATURATION
120+
elif camera_settings == sl.CAMERA_SETTINGS.CAMERA_SETTINGS_HUE:
121+
camera_settings = sl.CAMERA_SETTINGS.CAMERA_SETTINGS_SATURATION
125122
str_camera_settings = "Saturation"
126123
print("Camera settings: SATURATION")
127-
elif camera_settings == sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_SATURATION:
128-
camera_settings = sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_GAIN
124+
elif camera_settings == sl.CAMERA_SETTINGS.CAMERA_SETTINGS_SATURATION:
125+
camera_settings = sl.CAMERA_SETTINGS.CAMERA_SETTINGS_GAIN
129126
str_camera_settings = "Gain"
130127
print("Camera settings: GAIN")
131-
elif camera_settings == sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_GAIN:
132-
camera_settings = sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_EXPOSURE
128+
elif camera_settings == sl.CAMERA_SETTINGS.CAMERA_SETTINGS_GAIN:
129+
camera_settings = sl.CAMERA_SETTINGS.CAMERA_SETTINGS_EXPOSURE
133130
str_camera_settings = "Exposure"
134131
print("Camera settings: EXPOSURE")
135-
elif camera_settings == sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_EXPOSURE:
136-
camera_settings = sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_WHITEBALANCE
132+
elif camera_settings == sl.CAMERA_SETTINGS.CAMERA_SETTINGS_EXPOSURE:
133+
camera_settings = sl.CAMERA_SETTINGS.CAMERA_SETTINGS_WHITEBALANCE
137134
str_camera_settings = "White Balance"
138135
print("Camera settings: WHITEBALANCE")
139-
elif camera_settings == sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_WHITEBALANCE:
140-
camera_settings = sl.PyCAMERA_SETTINGS.PyCAMERA_SETTINGS_BRIGHTNESS
136+
elif camera_settings == sl.CAMERA_SETTINGS.CAMERA_SETTINGS_WHITEBALANCE:
137+
camera_settings = sl.CAMERA_SETTINGS.CAMERA_SETTINGS_BRIGHTNESS
141138
str_camera_settings = "Brightness"
142139
print("Camera settings: BRIGHTNESS")
143140

144141

145142
def record(cam, runtime, mat):
146-
vid = tp.PyERROR_CODE.PyERROR_CODE_FAILURE
143+
vid = sl.ERROR_CODE.ERROR_CODE_FAILURE
147144
out = False
148-
while vid != tp.PyERROR_CODE.PySUCCESS and not out:
145+
while vid != sl.ERROR_CODE.SUCCESS and not out:
149146
filepath = input("Enter filepath name: ")
150147
vid = cam.enable_recording(filepath)
151148
print(repr(vid))
152-
if vid == tp.PyERROR_CODE.PySUCCESS:
149+
if vid == sl.ERROR_CODE.SUCCESS:
153150
print("Recording started...")
154151
out = True
155152
print("Hit spacebar to stop recording: ")
156153
key = False
157154
while key != 32: # for spacebar
158155
err = cam.grab(runtime)
159-
if err == tp.PyERROR_CODE.PySUCCESS:
156+
if err == sl.ERROR_CODE.SUCCESS:
160157
cam.retrieve_image(mat)
161158
cv2.imshow("ZED", mat.get_data())
162159
key = cv2.waitKey(5)

‎examples/mesh_example.py

+17-20
Original file line numberDiff line numberDiff line change
@@ -23,10 +23,7 @@
2323
parameters can be saved.
2424
"""
2525
import sys
26-
import pyzed.camera as zcam
27-
import pyzed.core as core
28-
import pyzed.mesh as mesh
29-
import pyzed.types as tp
26+
import pyzed.sl as sl
3027

3128

3229
def main():
@@ -38,22 +35,22 @@ def main():
3835
filepath = sys.argv[1]
3936
print("Reading SVO file: {0}".format(filepath))
4037

41-
cam = zcam.PyZEDCamera()
42-
init = zcam.PyInitParameters(svo_input_filename=filepath)
38+
cam = sl.Camera()
39+
init = sl.InitParameters(svo_input_filename=filepath)
4340
status = cam.open(init)
44-
if status != tp.PyERROR_CODE.PySUCCESS:
41+
if status != sl.ERROR_CODE.SUCCESS:
4542
print(repr(status))
4643
exit()
4744

48-
runtime = zcam.PyRuntimeParameters()
49-
spatial = zcam.PySpatialMappingParameters()
50-
transform = core.PyTransform()
51-
tracking = zcam.PyTrackingParameters(transform)
45+
runtime = sl.RuntimeParameters()
46+
spatial = sl.SpatialMappingParameters()
47+
transform = sl.Transform()
48+
tracking = sl.TrackingParameters(transform)
5249

5350
cam.enable_tracking(tracking)
5451
cam.enable_spatial_mapping(spatial)
5552

56-
pymesh = mesh.PyMesh()
53+
pymesh = sl.Mesh()
5754
print("Processing...")
5855
for i in range(200):
5956
cam.grab(runtime)
@@ -63,11 +60,11 @@ def main():
6360
cam.disable_tracking()
6461
cam.disable_spatial_mapping()
6562

66-
filter_params = mesh.PyMeshFilterParameters()
67-
filter_params.set(mesh.PyFILTER.PyFILTER_HIGH)
63+
filter_params = sl.MeshFilterParameters()
64+
filter_params.set(sl.MESH_FILTER.MESH_FILTER_HIGH)
6865
print("Filtering params : {0}.".format(pymesh.filter(filter_params)))
6966

70-
apply_texture = pymesh.apply_texture(mesh.PyMESH_TEXTURE_FORMAT.PyMESH_TEXTURE_RGBA)
67+
apply_texture = pymesh.apply_texture(sl.MESH_TEXTURE_FORMAT.MESH_TEXTURE_RGBA)
7168
print("Applying texture : {0}.".format(apply_texture))
7269
print_mesh_information(pymesh, apply_texture)
7370

@@ -88,7 +85,7 @@ def print_mesh_information(pymesh, apply_texture):
8885
print("Triangles : \n{0} \n".format(pymesh.triangles))
8986
break
9087
else:
91-
print("Cannot display information of the mesh.")
88+
print("Cannot display information of the sl.")
9289
break
9390
if res == "n":
9491
print("Mesh information will not be displayed.")
@@ -101,8 +98,8 @@ def save_filter(filter_params):
10198
while True:
10299
res = input("Do you want to save the mesh filter parameters? [y/n]: ")
103100
if res == "y":
104-
params = tp.PyERROR_CODE.PyERROR_CODE_FAILURE
105-
while params != tp.PyERROR_CODE.PySUCCESS:
101+
params = sl.ERROR_CODE.ERROR_CODE_FAILURE
102+
while params != sl.ERROR_CODE.SUCCESS:
106103
filepath = input("Enter filepath name : ")
107104
params = filter_params.save(filepath)
108105
print("Saving mesh filter parameters: {0}".format(repr(params)))
@@ -122,8 +119,8 @@ def save_mesh(pymesh):
122119
while True:
123120
res = input("Do you want to save the mesh? [y/n]: ")
124121
if res == "y":
125-
msh = tp.PyERROR_CODE.PyERROR_CODE_FAILURE
126-
while msh != tp.PyERROR_CODE.PySUCCESS:
122+
msh = sl.ERROR_CODE.ERROR_CODE_FAILURE
123+
while msh != sl.ERROR_CODE.SUCCESS:
127124
filepath = input("Enter filepath name: ")
128125
msh = pymesh.save(filepath)
129126
print("Saving mesh: {0}".format(repr(msh)))

‎examples/multi_camera.py

+14-17
Original file line numberDiff line numberDiff line change
@@ -23,38 +23,35 @@
2323
"""
2424

2525
import cv2
26-
import pyzed.camera as zcam
27-
import pyzed.types as tp
28-
import pyzed.core as core
29-
import pyzed.defines as sl
26+
import pyzed.sl as sl
3027

3128

3229
def main():
3330
print("Running...")
34-
init = zcam.PyInitParameters()
35-
init.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD720
31+
init = sl.InitParameters()
32+
init.camera_resolution = sl.RESOLUTION.RESOLUTION_HD720
3633
init.camera_linux_id = 0
3734
init.camera_fps = 30 # The framerate is lowered to avoid any USB3 bandwidth issues
38-
cam = zcam.PyZEDCamera()
35+
cam = sl.Camera()
3936
if not cam.is_opened():
4037
print("Opening ZED Camera 1...")
4138
status = cam.open(init)
42-
if status != tp.PyERROR_CODE.PySUCCESS:
39+
if status != sl.ERROR_CODE.SUCCESS:
4340
print(repr(status))
4441
exit()
4542

4643
init.camera_linux_id = 1 # selection of the ZED ID
47-
cam2 = zcam.PyZEDCamera()
44+
cam2 = sl.Camera()
4845
if not cam2.is_opened():
4946
print("Opening ZED Camera 2...")
5047
status = cam2.open(init)
51-
if status != tp.PyERROR_CODE.PySUCCESS:
48+
if status != sl.ERROR_CODE.SUCCESS:
5249
print(repr(status))
5350
exit()
5451

55-
runtime = zcam.PyRuntimeParameters()
56-
mat = core.PyMat()
57-
mat2 = core.PyMat()
52+
runtime = sl.RuntimeParameters()
53+
mat = sl.Mat()
54+
mat2 = sl.Mat()
5855

5956
print_camera_information(cam)
6057
print_camera_information(cam2)
@@ -63,13 +60,13 @@ def main():
6360
while key != 113: # for 'q' key
6461
# The computation could also be done in a thread, one for each camera
6562
err = cam.grab(runtime)
66-
if err == tp.PyERROR_CODE.PySUCCESS:
67-
cam.retrieve_image(mat, sl.PyVIEW.PyVIEW_LEFT)
63+
if err == sl.ERROR_CODE.SUCCESS:
64+
cam.retrieve_image(mat, sl.VIEW.VIEW_LEFT)
6865
cv2.imshow("ZED 1", mat.get_data())
6966

7067
err = cam2.grab(runtime)
71-
if err == tp.PyERROR_CODE.PySUCCESS:
72-
cam2.retrieve_image(mat2, sl.PyVIEW.PyVIEW_LEFT)
68+
if err == sl.ERROR_CODE.SUCCESS:
69+
cam2.retrieve_image(mat2, sl.VIEW.VIEW_LEFT)
7370
cv2.imshow("ZED 2", mat2.get_data())
7471

7572
key = cv2.waitKey(5)

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