112 lines
2.9 KiB
Python
112 lines
2.9 KiB
Python
'''
|
|
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()
|
|
|