first commit

Vision/tool/tuyang/frame_fetchIR.py

@@ -0,0 +1,103 @@
+'''
+Description: 
+Author: zxy
+Date: 2023-07-14 19:12:19
+LastEditors: zxy
+LastEditTime: 2023-07-18 12:07:14
+'''
+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)
+
+    cl.DeviceControlLaserPowerAutoControlEnable(handle, False)
+    cl.DeviceControlLaserPowerConfig(handle, 80)
+
+    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_IR_LEFT | PERCIPIO_STREAM_IR_RIGHT)
+    if err:
+       print('device stream enable err:{}'.format(err))
+       return
+    
+    img_ir = image_data()
+    cl.DeviceStreamOn(handle)
+
+    while True:
+      if event.IsOffline():
+        break
+        
+      image_list = cl.DeviceStreamRead(handle, 2000)
+      for i in range(len(image_list)):
+        frame = image_list[i]
+        if frame.streamID == PERCIPIO_STREAM_IR_LEFT:
+          cl.DeviceStreamIRRender(frame, img_ir)
+          arr = img_ir.as_nparray()
+          cv2.imshow('leftir',arr)
+        if frame.streamID == PERCIPIO_STREAM_IR_RIGHT:
+          cl.DeviceStreamIRRender(frame, img_ir)
+          arr = img_ir.as_nparray()
+          cv2.imshow('right ir',arr)
+
+      k = cv2.waitKey(10)
+      if k==ord('q'): 
+        break
+
+    cl.DeviceStreamOff(handle)    
+    cl.Close(handle)
+    pass
+
+if __name__=='__main__':
+    main()
+