ZED2相机的参数获取01

import pyzed.sl as sl

import math

 

zed = sl.Camera()

init_params = sl.InitParameters()

init_params.camera_resolution = sl.RESOLUTION.HD2K

# init_params.depth_mode = sl.DEPTH_MODE.PERFORMANCE  # 性能优先的深度模式

init_params.depth_mode = sl.DEPTH_MODE.ULTRA  # 设置为ULTRA模式

# 设置距离单位为米

init_params.coordinate_units = sl.UNIT.METER

# 最小15cm

init_params.depth_minimum_distance = 0.3

init_params.depth_maximum_distance = 40

# 深度稳定

tracking_params = sl.PositionalTrackingParameters()

init_params.depth_stabilization = True

 

# Open the camera

err = zed.open(init_params)

if err != sl.ERROR_CODE.SUCCESS:

    print(repr(err))

    zed.close()

    exit(1)

 

# 获取相机参数

info = zed.get_camera_information()

left_camra_params = info.camera_configuration.calibration_parameters.left_cam

print('X轴焦距：', left_camra_params.fx)

print('Y轴焦距：', left_camra_params.fy)

print('X轴光学中心：', left_camra_params.cx)

print('Y轴光学中心：', left_camra_params.cy)

print('垂直视场角：', left_camra_params.v_fov)

print('水平视场角：', left_camra_params.h_fov)

print('分辨率：', left_camra_params.image_size.width, left_camra_params.image_size.height)

print('实际焦距：', left_camra_params.focal_length_metric)

 

print("相机模式: {}".format(info.camera_model))

print("序列号: {}".format(info.serial_number))

print("摄像头固件: {}".format(info.camera_configuration.firmware_version))

print("传感器固件: {}".format(info.sensors_configuration.firmware_version))