first commit

2025-07-29 13:16:30 +08:00
commit dca51db4eb
145 changed files with 721268 additions and 0 deletions
--- a/Vision/tool/tuyang/frame_fetch.py
+++ b/Vision/tool/tuyang/frame_fetch.py
@ -0,0 +1,142 @@
+import pcammls
+from pcammls import * 
+import cv2
+import numpy
+import sys
+import os
+
+class PythonPercipioDeviceEvent(pcammls.DeviceEvent):
+    Offline = False
+
+    def __init__(self):
+        pcammls.DeviceEvent.__init__(self)
+
+    def run(self, handle, eventID):
+        if eventID==TY_EVENT_DEVICE_OFFLINE:
+          print('=== Event Callback: Device Offline!')
+          self.Offline = True
+        return 0
+
+    def IsOffline(self):
+        return self.Offline
+
+def main():
+    cl = PercipioSDK()
+
+    dev_list = cl.ListDevice()
+    for idx in range(len(dev_list)):
+      dev = dev_list[idx]
+      print ('{} -- {} \t {}'.format(idx,dev.id,dev.iface.id))
+    if  len(dev_list)==0:
+      print ('no device')
+      return
+    if len(dev_list) == 1:
+        selected_idx = 0 
+    else:
+        selected_idx  = int(input('select a device:'))
+    if selected_idx < 0 or selected_idx >= len(dev_list):
+        return
+
+    sn = dev_list[selected_idx].id
+
+    handle = cl.Open(sn)
+    if not cl.isValidHandle(handle):
+      err = cl.TYGetLastErrorCodedescription()
+      print('no device found : ', end='')
+      print(err)
+      return
+      
+    event = PythonPercipioDeviceEvent()
+    cl.DeviceRegiststerCallBackEvent(event)
+
+    color_fmt_list = cl.DeviceStreamFormatDump(handle, PERCIPIO_STREAM_COLOR)
+    if len(color_fmt_list) != 0:
+      print ('color image format list:')
+      for idx in range(len(color_fmt_list)):
+        fmt = color_fmt_list[idx]
+        print ('\t{} -size[{}x{}]\t-\t desc:{}'.format(idx, cl.Width(fmt), cl.Height(fmt), fmt.getDesc()))
+      print('\tSelect {}'.format(fmt.getDesc()))
+      cl.DeviceStreamFormatConfig(handle, PERCIPIO_STREAM_COLOR, color_fmt_list[0])
+
+      color_enum_desc = TY_ENUM_ENTRY()
+      cl.DeviceReadCurrentEnumData(handle, PERCIPIO_STREAM_COLOR, color_enum_desc)
+      print('current color image mode  {}x{}'.format(cl.Width(color_enum_desc), cl.Height(color_enum_desc)))
+
+      color_calib_data   = cl.DeviceReadCalibData(handle, PERCIPIO_STREAM_COLOR)
+      color_calib_width  = color_calib_data.Width()
+      color_calib_height = color_calib_data.Height()
+      color_calib_intr   = color_calib_data.Intrinsic()
+      color_calib_extr   = color_calib_data.Extrinsic()
+      color_calib_dis    = color_calib_data.Distortion()
+      print('color calib info:')
+      print('\tcalib size       :[{}x{}]'.format(color_calib_width, color_calib_height))
+      print('\tcalib intr       : {}'.format(color_calib_intr))
+      print('\tcalib extr       : {}'.format(color_calib_extr))
+      print('\tcalib distortion : {}'.format(color_calib_dis))
+
+    depth_fmt_list = cl.DeviceStreamFormatDump(handle, PERCIPIO_STREAM_DEPTH)
+    if len(depth_fmt_list) != 0:
+      print ('depth image format list:')
+      for idx in range(len(depth_fmt_list)):
+        fmt = depth_fmt_list[idx]
+        print ('\t{} -size[{}x{}]\t-\t desc:{}'.format(idx, cl.Width(fmt), cl.Height(fmt), fmt.getDesc()))
+      print('\tSelect {}'.format(fmt.getDesc()))
+      cl.DeviceStreamFormatConfig(handle, PERCIPIO_STREAM_DEPTH, depth_fmt_list[0])
+
+      depth_enum_desc = TY_ENUM_ENTRY()
+      cl.DeviceReadCurrentEnumData(handle, PERCIPIO_STREAM_DEPTH, depth_enum_desc)
+      print('current depth image mode  {}x{}'.format(cl.Width(depth_enum_desc), cl.Height(depth_enum_desc)))
+
+      depth_calib_data   = cl.DeviceReadCalibData(handle, PERCIPIO_STREAM_DEPTH)
+      depth_calib_width  = depth_calib_data.Width()
+      depth_calib_height = depth_calib_data.Height()
+      depth_calib_intr   = depth_calib_data.Intrinsic()
+      depth_calib_extr   = depth_calib_data.Extrinsic()
+      depth_calib_dis    = depth_calib_data.Distortion()
+      print('delth calib info:')
+      print('\tcalib size       :[{}x{}]'.format(depth_calib_width, depth_calib_height))
+      print('\tcalib intr       : {}'.format(depth_calib_intr))
+      print('\tcalib extr       : {}'.format(depth_calib_extr))
+      print('\tcalib distortion : {}'.format(depth_calib_dis))
+
+    err = cl.DeviceLoadDefaultParameters(handle)
+    if err:
+      print('Load default parameters fail: ', end='')
+      print(cl.TYGetLastErrorCodedescription())
+    else:
+       print('Load default parameters successful')
+
+    err=cl.DeviceStreamEnable(handle, PERCIPIO_STREAM_COLOR | PERCIPIO_STREAM_DEPTH)
+    if err:
+       print('device stream enable err:{}'.format(err))
+       return
+
+    rgb_image = image_data()
+    depth_render = image_data()
+    cl.DeviceStreamOn(handle)
+
+    while True:
+      if event.IsOffline():
+        break
+      image_list = cl.DeviceStreamRead(handle, -1)
+      for i in range(len(image_list)):
+        frame = image_list[i]
+        if frame.streamID == PERCIPIO_STREAM_DEPTH:
+          cl.DeviceStreamDepthRender(frame, depth_render)
+          arr = depth_render.as_nparray()
+          cv2.imshow('depth',arr)
+        if frame.streamID == PERCIPIO_STREAM_COLOR:
+          cl.DeviceStreamImageDecode(frame, rgb_image)
+          arr = rgb_image.as_nparray()
+          cv2.imshow('color',arr)
+      k = cv2.waitKey(10)
+      if k==ord('q'): 
+        break
+
+    cl.DeviceStreamOff(handle)    
+    cl.Close(handle)
+    pass
+
+if __name__=='__main__':
+    main()
+