object_detection_image_viewer.py

import sys
import ogl_viewer.viewer as gl
import pyzed.sl as sl

if __name__ == "__main__":
    # Create a Camera object
    zed = sl.Camera()

    # Create a InitParameters object and set configuration parameters
    init_params = sl.InitParameters()
    init_params.camera_resolution = sl.RESOLUTION.HD720  # Use HD720 video mode    
    init_params.coordinate_units = sl.UNIT.METER
    init_params.camera_fps = 15                          # Set fps at 15
    init_params.coordinate_system = sl.COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP

    # If applicable, use the SVO given as parameter
    # Otherwise use ZED live stream
    if len(sys.argv) == 2:
        filepath = sys.argv[1]
        print("Using SVO file: {0}".format(filepath))
        init_params.set_from_svo_file(filepath)

    # Set runtime parameters
    runtime_parameters = sl.RuntimeParameters()

    # Open the camera
    err = zed.open(init_params)
    if err != sl.ERROR_CODE.SUCCESS:
        exit(1)

    # Enable object detection module
    obj_param = sl.ObjectDetectionParameters()
    # Defines if the object detection will track objects across images flow.
    obj_param.enable_tracking = True       # if True, enable positional tracking

    if obj_param.enable_tracking:
        zed.enable_positional_tracking()
        
    zed.enable_object_detection(obj_param)

    camera_info = zed.get_camera_information()
    # Create OpenGL viewer
    viewer = gl.GLViewer()
    viewer.init(camera_info.calibration_parameters.left_cam)

    # Configure object detection runtime parameters
    obj_runtime_param = sl.ObjectDetectionRuntimeParameters()
    obj_runtime_param.detection_confidence_threshold = 50
    #obj_runtime_param.object_class_filter = [sl.OBJECT_CLASS.PERSON]    # Only detect Persons
	print(obj_runtime_param.object_class_filter)
    # Create ZED objects filled in the main loop
    objects = sl.Objects()
    image = sl.Mat()

    while viewer.is_available():
        # Grab an image, a RuntimeParameters object must be given to grab()
        if zed.grab(runtime_parameters) == sl.ERROR_CODE.SUCCESS:
            # Retrieve left image
            zed.retrieve_image(image, sl.VIEW.LEFT)
            # Retrieve objects
            zed.retrieve_objects(objects, obj_runtime_param)
            # Update GL view
            viewer.update_view(image, objects)

    viewer.exit()

    image.free(memory_type=sl.MEM.CPU)
    # Disable modules and close camera
    zed.disable_object_detection()
    zed.disable_positional_tracking()

    zed.close()