Fix exportation issues

AndinetH · May 19, 2017 · 3ef0e7d · 3ef0e7d
1 parent 893688b
commit 3ef0e7d
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Showing 4 changed files with 28 additions and 9 deletions.
diff --git a/svo recording/CMakeLists.txt b/svo recording/CMakeLists.txt
@@ -22,7 +22,7 @@ IF(WIN32) # Windows
         message(FATAL_ERROR "You've selected the 32bit version of ${CMAKE_GENERATOR}. \n Please delete the cache (file->Delete Cache) and use the 64bit version. (${CMAKE_GENERATOR} Win64)")
     endif()
 ELSE() # Linux
-    find_package(ZED 2.0 REQUIRED)
+    find_package(ZED 2 REQUIRED)
 
     ##For Jetson, OpenCV4Tegra is based on OpenCV2.4
     exec_program(uname ARGS -p OUTPUT_VARIABLE CMAKE_SYSTEM_NAME2)
@@ -40,7 +40,7 @@ ELSE() # Linux
     SET(SPECIAL_OS_LIBS "pthread" "X11")
 ENDIF(WIN32)
 
-find_package(OpenCV ${VERSION_REQ_OCV} REQUIRED)
+find_package(OpenCV REQUIRED)
 find_package(CUDA ${VERSION_REQ_CUDA} REQUIRED)
 
 include_directories(${CUDA_INCLUDE_DIRS})

diff --git a/svo recording/README.md b/svo recording/README.md
@@ -30,7 +30,7 @@ Open a terminal in build directory and execute the following command:
 
 Example :
 
-     ./ZED_SVO_Recording -f="./mysvo.svo" -v="./mysvo_converted.avi"  -z
+     ./ZED_SVO_Recording -f="./mysvo.svo" -o="./mysvo_converted.avi"  -z
 
 **NOTE :** Make sure you put a '=' between the option and the argument.
 
@@ -41,7 +41,7 @@ Option                    |               Descriptions             |
  -----------------------------------------|----------------------------------------|-----------------------------------------------------
  --help                | Display help message.                   |                                                  
  -f, --filename      | SVO input filename                          | Path to an input SVO file    
- -v, --video      | Name of the output file, Left+Disparity with -z option, Left+Right otherwise                           |      filename with ".avi" extension for a video file, if no extension is given a sequence of images is then recorded (png file)
+ -o, --output      | Name of the output file, Left+Disparity with -z option, Left+Right otherwise                           |      filename with ".avi" extension for a video file, if no extension is given a sequence of images is then recorded (png file)
  -z, --disparity          | Compute disparity      |   
 
 ## Troubleshooting

diff --git a/svo recording/src/main.cpp b/svo recording/src/main.cpp
@@ -43,6 +43,7 @@ int main(int argc, char **argv) {
     sl::InitParameters initParameters;
     if (!modes.recordingMode) initParameters.svo_input_filename = modes.svo_path.c_str();
     else initParameters.camera_fps = 30;
+	initParameters.svo_real_time_mode = true;
 
     if (!modes.computeDisparity) initParameters.depth_mode = sl::DEPTH_MODE_NONE;
 
@@ -80,7 +81,7 @@ int main(int argc, char **argv) {
 
     // Enter main loop
     while (key != 'q') {
-        if (!zed.grab()) {
+        if (zed.grab() == sl::SUCCESS) {
 
             // Get the side by side image
             zed.retrieveImage(view, sl::VIEW_SIDE_BY_SIDE);
@@ -102,6 +103,7 @@ int main(int argc, char **argv) {
                 //Check if we are at the end of the svo file, then close the actions (close the avi file for example) and exit the while loop
                 if (zed.getSVOPosition() >= (zed.getSVONumberOfFrames() - 2)) { // end of SVO
                     exitActions();
+                    std::cout<<"Finished... exiting now"<<std::endl;
                     break;
                 }
             }

diff --git a/svo recording/src/utils.cpp b/svo recording/src/utils.cpp
@@ -85,20 +85,36 @@ void parse_args(int argc, char **argv, InfoOption &info) {
 }
 
 void initActions(sl::Camera *zed, InfoOption &modes) {
-    if (modes.videoMode && !video_writer) video_writer = new cv::VideoWriter(modes.output_path, CV_FOURCC('M', '4', 'S', '2'), 25,
+    if (!zed->isOpened())
+        return;
+
+    //get SVO FPS to have the same in opencv video file.
+    int svo_fps = (int)zed->getCameraFPS();
+
+    //security
+    if (svo_fps<=0)
+        svo_fps = 25;
+
+    int fourcc = CV_FOURCC('M', '4', 'S', '2');
+
+    if (modes.videoMode && !video_writer) video_writer = new cv::VideoWriter(modes.output_path, fourcc, svo_fps,
             cv::Size(zed->getResolution().width * 2, zed->getResolution().height));
     else image_name = modes.output_path;
 
     buff.alloc(zed->getResolution().width * 2, zed->getResolution().height, sl::MAT_TYPE_8U_C3);
 }
 
 void exitActions() {
-    if (video_writer) delete video_writer;
+    if (video_writer)
+    {
+        video_writer->release();
+        delete video_writer;
+    }
 }
 
 void recordVideo(sl::Mat &image) {
 
-    video_writer->write(cv::Mat(image.getHeight(), image.getWidth(), CV_8UC4, image.getPtr<sl::uchar1>(sl::MEM_CPU)));
+    video_writer->write(cv::Mat(image.getHeight(), image.getWidth(), CV_8UC3, image.getPtr<sl::uchar1>(sl::MEM_CPU)));
 }
 
 void recordImages(sl::Mat &image) {
@@ -122,8 +138,9 @@ void generateImageToRecord(sl::Camera *zed, InfoOption &modes, sl::Mat &out) {
     tmp_cv.copyTo(sbsIm(cv::Rect(0, 0, zed->getResolution().width, zed->getResolution().height)));
     tmp_cv = cv::Mat(rightIm.getHeight(), rightIm.getWidth(), CV_8UC4, rightIm.getPtr<sl::uchar1>(sl::MEM_CPU));
     tmp_cv.copyTo(sbsIm(cv::Rect(zed->getResolution().width, 0, zed->getResolution().width, zed->getResolution().height)));
-    tmp_cv = cv::Mat(out.getHeight(), out.getWidth(), CV_8UC4, out.getPtr<sl::uchar1>(sl::MEM_CPU));
+    tmp_cv = cv::Mat(out.getHeight(), out.getWidth(), CV_8UC3, out.getPtr<sl::uchar1>(sl::MEM_CPU));
     cv::cvtColor(sbsIm, tmp_cv, CV_RGBA2RGB);
+
 }
 
 void manageActions(sl::Camera *zed, char &key, InfoOption &modes) {