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Vision/tool/tuyang/point3d_fetch.py

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+'''
+Description: 
+Author: zxy
+Date: 2023-07-18 09:55:47
+LastEditors: zxy
+LastEditTime: 2023-12-28 15:49:28
+'''
+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])
+
+    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')
+
+    scale_unit = cl.DeviceReadCalibDepthScaleUnit(handle)
+    print ('depth image scale unit :{}'.format(scale_unit))
+
+    err = cl.DeviceStreamEnable(handle, PERCIPIO_STREAM_DEPTH)
+    if err:
+       print('device stream enable err:{}'.format(err))
+       return
+    
+    cl.DeviceStreamOn(handle)
+
+    pointcloud_data_arr = pointcloud_data_list()
+    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.DeviceStreamMapDepthImageToPoint3D(frame, depth_calib_data, scale_unit, pointcloud_data_arr)
+          sz = pointcloud_data_arr.size()
+          print('get p3d size : {}'.format(sz))
+          center = frame.width * frame.height / 2 + frame.width / 2
+
+          #show p3d arr data
+          p3d_nparray = pointcloud_data_arr.as_nparray()
+          cv2.imshow('p3d',p3d_nparray)
+
+          p3d = pointcloud_data_arr.get_value(int(center))
+          print('\tp3d data : {} {} {}'.format(p3d.getX(), p3d.getY(), p3d.getZ()))
+      k = cv2.waitKey(10)
+      if k==ord('q'): 
+        break
+
+    cl.DeviceStreamOff(handle)    
+    cl.Close(handle)
+    pass
+
+if __name__=='__main__':
+    main()
+