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Vision/tool/tuyang/frame_trigger.py

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+'''
+Description: 
+Author: zxy
+Date: 2023-07-13 15:38:51
+LastEditors: zxy
+LastEditTime: 2023-07-18 11:57:37
+'''
+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)
+
+    depth_fmt_list = cl.DeviceStreamFormatDump(handle, PERCIPIO_STREAM_DEPTH)
+    if len(depth_fmt_list) == 0:
+      print ('device has no depth stream.')
+      return
+
+    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()))
+    cl.DeviceStreamFormatConfig(handle, PERCIPIO_STREAM_DEPTH, depth_fmt_list[0])
+
+    cl.DeviceControlTriggerModeEnable(handle, 1)
+
+    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_DEPTH)
+    if err:
+       print('device stream enable err:{}'.format(err))
+       return
+    
+    depth_render = image_data()
+    cl.DeviceStreamOn(handle)
+
+    while True:
+      if event.IsOffline():
+        break
+      
+      
+      cl.DeviceControlTriggerModeSendTriggerSignal(handle)
+      image_list = cl.DeviceStreamRead(handle, 20000)
+      for i in range(len(image_list)):
+        frame = image_list[i]
+        arr = frame.as_nparray()
+        if frame.streamID == PERCIPIO_STREAM_DEPTH:
+          cl.DeviceStreamDepthRender(frame, depth_render)
+          mat_depth_render = depth_render.as_nparray()
+          cv2.imshow('depth',mat_depth_render)
+      k = cv2.waitKey(10)
+      if k==ord('q'): 
+        break
+
+    cl.DeviceStreamOff(handle)
+    cl.Close(handle)
+    pass
+
+if __name__=='__main__':
+    main()
+