first commit

Vision/tool/CameraRVC.py

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+#!/usr/bin/env python
+# -*- coding: UTF-8 -*-
+'''
+@Project ：my_work 
+@File    ：camera.py
+@IDE     ：PyCharm 
+@Author  ：hjw
+@Date    ：2024/8/13 11:34 
+'''
+import PyRVC as RVC
+import numpy as np
+
+class camera_rvc:
+
+    def __init__(self):
+        self.caminit_isok = False
+        RVC.SystemInit()
+
+        # Choose RVC X Camera type (USB, GigE or All)
+        opt = RVC.SystemListDeviceTypeEnum.GigE
+
+        # Scan all RVC X Camera devices.
+        ret, devices = RVC.SystemListDevices(opt)
+        print("RVC X Camera devices number:%d" % len(devices))
+
+        #  Find whether any RVC X Camera is connected or not.
+        if len(devices) == 0:
+            print("Can not find any RVC X Camera!")
+            RVC.SystemShutdown()
+        else:
+            print("devices size = %d" % len(devices))
+
+            # Create a RVC X Camera and choose use left side camera.
+            self.x = RVC.X1.Create(devices[0], RVC.CameraID_Left)
+            # x = RVC.X1.Create(devices[0], RVC.CameraID_Right)
+
+            # Test RVC X Camera is valid or not.
+            if self.x.IsValid() == True:
+                print("RVC X Camera is valid!")
+                # Open RVC X Camera.
+                ret1 = self.x.Open()
+                # Test RVC X Camera is opened or not.
+                if ret1 and self.x.IsOpen() == True:
+                    print("RVC X Camera is opened!")
+                    self.caminit_isok = True
+                else:
+                    print("RVC X Camera is not opened!")
+                    RVC.X1.Destroy(self.x)
+                    RVC.SystemShutdown()
+                    self.caminit_isok = False
+            else:
+                print("RVC X Camera is not valid!")
+                RVC.X1.Destroy(self.x)
+                RVC.SystemShutdown()
+                self.caminit_isok = False
+
+
+    def get_img(self):
+        ""
+        '''
+        :param api: None
+        :return: ret ,img 
+        '''
+        if self.caminit_isok == False:
+            return 0, None
+        else:
+            # Capture a point map and a image.
+            ret2 = self.x.Capture()
+            # Create saving address of image and point map.
+
+            if ret2 == True:
+                print("RVC X Camera capture successed!")
+
+                # Get image data and image size.
+                img = self.x.GetImage()
+                # Convert image to array and save it.
+                img = np.array(img, copy=False)
+                return 1, img
+            else:
+                print("RVC X Camera capture failed!")
+                self.x.Close()
+                RVC.X1.Destroy(self.x)
+                RVC.SystemShutdown()
+                return 0, None
+
+    def get_point_map(self):
+        ""
+        '''
+        :param api: None
+        :return: img 
+        '''
+        if self.caminit_isok == False:
+            return 0, None
+        else:
+            # Capture a point map and a image.
+            ret2 = self.x.Capture()
+            # Create saving address of image and point map.
+
+            if ret2 == True:
+                print("RVC X Camera capture successed!")
+                # Convert point map (m) to array and save it.
+                pm = np.array(self.x.GetPointMap(), copy=False)
+                return 1, pm
+            else:
+                print("RVC X Camera capture failed!")
+                self.x.Close()
+                RVC.X1.Destroy(self.x)
+                RVC.SystemShutdown()
+                return 0, None
+
+    def get_img_and_point_map(self):
+        ""
+        '''
+        :param api: None
+        :return: ret , img, point_map
+        '''
+        if self.caminit_isok == False:
+            return 0, None, None
+        else:
+            # Capture a point map and a image.
+            ret2 = self.x.Capture()
+            # Create saving address of image and point map.
+
+            if ret2 == True:
+                print("RVC X Camera capture successed!")
+
+                # Get image data and image size.
+                img = self.x.GetImage()
+                # Convert image to array and save it.
+                img = np.array(img, copy=False)
+
+                # Convert point map (m) to array and save it.
+                pm = np.array(self.x.GetPointMap(), copy=False)
+                return 1, img, pm
+            else:
+                print("RVC X Camera capture failed!")
+                self.x.Close()
+                RVC.X1.Destroy(self.x)
+                RVC.SystemShutdown()
+                return 0, None, None
+
+    def release(self):
+        if self.caminit_isok == False:
+            RVC.SystemShutdown()
+        else:
+            RVC.X1.Destroy(self.x)
+            RVC.SystemShutdown()
+
+