107 lines
2.9 KiB
Python
107 lines
2.9 KiB
Python
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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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#register offline event
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event = PythonPercipioDeviceEvent()
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cl.DeviceRegiststerCallBackEvent(event)
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#sn list init
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sn = [0] * len(dev_list)
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for idx in range(len(dev_list)):
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sn[idx] = dev_list[idx].id
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#open device
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handle = [0] * len(dev_list)
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for i in range(len(dev_list)):
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handle[i] = cl.Open(sn[i])
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if not cl.isValidHandle(handle[i]):
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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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#device stream config
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for i in range(len(dev_list)):
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depth_fmt_list = cl.DeviceStreamFormatDump(handle[i], PERCIPIO_STREAM_DEPTH)
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print ('depth image format list:')
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for idx in range(len(depth_fmt_list)):
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fmt = depth_fmt_list[idx]
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print ('\t{} -size[{}x{}]\t-\t desc:{}'.format(idx, cl.Width(fmt), cl.Height(fmt), fmt.getDesc()))
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cl.DeviceStreamFormatConfig(handle[i], PERCIPIO_STREAM_DEPTH, depth_fmt_list[0])
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err = cl.DeviceLoadDefaultParameters(handle[i])
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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[i], PERCIPIO_STREAM_DEPTH)
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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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cl.DeviceStreamOn(handle[i])
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depth_render = [0] * len(dev_list)
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for i in range(len(dev_list)):
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depth_render[i] = image_data()
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while True:
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if event.IsOffline():
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break
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for m in range(len(dev_list)):
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image_list = cl.DeviceStreamRead(handle[m], -1)
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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_DEPTH:
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cl.DeviceStreamDepthRender(frame, depth_render[m])
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arr = depth_render[m].as_nparray()
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cv2.imshow(sn[m],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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for i in range(len(dev_list)):
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cl.DeviceStreamOff(handle[i])
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for i in range(len(dev_list)):
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cl.Close(handle[i])
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pass
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if __name__=='__main__':
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main()
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