104 lines
2.6 KiB
Python
104 lines
2.6 KiB
Python
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'''
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Description:
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Author: zxy
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Date: 2023-07-14 19:12:19
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LastEditors: zxy
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LastEditTime: 2023-07-18 12:07:14
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'''
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import pcammls
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from pcammls import *
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import cv2
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import numpy
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import sys
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import os
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class PythonPercipioDeviceEvent(pcammls.DeviceEvent):
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Offline = False
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def __init__(self):
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pcammls.DeviceEvent.__init__(self)
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def run(self, handle, eventID):
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if eventID==TY_EVENT_DEVICE_OFFLINE:
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print('=== Event Callback: Device Offline!')
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self.Offline = True
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return 0
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def IsOffline(self):
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return self.Offline
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def main():
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cl = PercipioSDK()
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dev_list = cl.ListDevice()
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for idx in range(len(dev_list)):
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dev = dev_list[idx]
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print ('{} -- {} \t {}'.format(idx,dev.id,dev.iface.id))
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if len(dev_list)==0:
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print ('no device')
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return
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if len(dev_list) == 1:
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selected_idx = 0
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else:
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selected_idx = int(input('select a device:'))
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if selected_idx < 0 or selected_idx >= len(dev_list):
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return
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sn = dev_list[selected_idx].id
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handle = cl.Open(sn)
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if not cl.isValidHandle(handle):
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err = cl.TYGetLastErrorCodedescription()
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print('no device found : ', end='')
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print(err)
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return
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event = PythonPercipioDeviceEvent()
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cl.DeviceRegiststerCallBackEvent(event)
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cl.DeviceControlLaserPowerAutoControlEnable(handle, False)
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cl.DeviceControlLaserPowerConfig(handle, 80)
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err = cl.DeviceLoadDefaultParameters(handle)
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if err:
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print('Load default parameters fail: ', end='')
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print(cl.TYGetLastErrorCodedescription())
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else:
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print('Load default parameters successful')
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err = cl.DeviceStreamEnable(handle, PERCIPIO_STREAM_IR_LEFT | PERCIPIO_STREAM_IR_RIGHT)
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if err:
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print('device stream enable err:{}'.format(err))
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return
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img_ir = image_data()
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cl.DeviceStreamOn(handle)
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while True:
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if event.IsOffline():
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break
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image_list = cl.DeviceStreamRead(handle, 2000)
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for i in range(len(image_list)):
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frame = image_list[i]
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if frame.streamID == PERCIPIO_STREAM_IR_LEFT:
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cl.DeviceStreamIRRender(frame, img_ir)
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arr = img_ir.as_nparray()
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cv2.imshow('leftir',arr)
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if frame.streamID == PERCIPIO_STREAM_IR_RIGHT:
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cl.DeviceStreamIRRender(frame, img_ir)
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arr = img_ir.as_nparray()
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cv2.imshow('right ir',arr)
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k = cv2.waitKey(10)
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if k==ord('q'):
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break
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cl.DeviceStreamOff(handle)
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cl.Close(handle)
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pass
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if __name__=='__main__':
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main()
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