测试完成代码

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()
+

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()
+

Vision/tool/tuyang/frame_isp.py

@@ -0,0 +1,97 @@
+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)
+
+    err = cl.DeviceStreamEnable(handle, PERCIPIO_STREAM_COLOR)
+    if err:
+       print('device stream enable err:{}'.format(err))
+       return
+    
+    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[len(color_fmt_list) - 1])
+    else:
+      print ('device has no color stream.')
+      cl.Close(handle)
+      return
+
+    #enable rgb image software isp
+    cl.DeviceColorStreamIspEnable(handle, True)
+
+    rgb_image = 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_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()
+

Vision/tool/tuyang/frame_registration.py

@@ -0,0 +1,157 @@
+'''
+Description: 
+Author: zxy
+Date: 2023-07-14 09:48:00
+LastEditors: zxy
+LastEditTime: 2024-01-02 11:36:57
+'''
+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 ('device has no color stream.')
+      return
+
+    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()))
+    cl.DeviceStreamFormatConfig(handle, PERCIPIO_STREAM_COLOR, color_fmt_list[0])
+
+    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])
+
+    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))
+
+    depth_calib = cl.DeviceReadCalibData(handle, PERCIPIO_STREAM_DEPTH)
+    color_calib = cl.DeviceReadCalibData(handle, PERCIPIO_STREAM_COLOR)
+
+    err = cl.DeviceStreamEnable(handle, PERCIPIO_STREAM_COLOR | PERCIPIO_STREAM_DEPTH)
+    if err:
+       print('device stream enable err:{}'.format(err))
+       return
+    
+    print ('{} -- {} \t'.format(0,"Map depth to color coordinate(suggest)"))
+    print ('{} -- {} \t'.format(1,"Map color to depth coordinate"))
+    registration_mode = int(input('select registration mode(0 or 1):'))
+    if selected_idx < 0 or selected_idx >= 2:
+      registration_mode = 0
+
+    cl.DeviceStreamOn(handle)
+    img_registration_depth  = image_data()
+    img_registration_render = image_data()
+    img_parsed_color        = image_data()
+    img_undistortion_color  = image_data()
+    img_registration_color  = image_data()
+    while True:
+      if event.IsOffline():
+        break
+      image_list = cl.DeviceStreamRead(handle, 2000)
+      if len(image_list) == 2:
+        for i in range(len(image_list)):
+          frame = image_list[i]
+          if frame.streamID == PERCIPIO_STREAM_DEPTH:
+            img_depth = frame
+          if frame.streamID == PERCIPIO_STREAM_COLOR:
+            img_color = frame
+        
+        if 0 == registration_mode:
+          cl.DeviceStreamMapDepthImageToColorCoordinate(depth_calib, img_depth, scale_unit, color_calib, img_color.width, img_color.height, img_registration_depth)
+          
+          cl.DeviceStreamDepthRender(img_registration_depth, img_registration_render)
+          mat_depth_render = img_registration_render.as_nparray()
+          cv2.imshow('registration', mat_depth_render)
+
+          cl.DeviceStreamImageDecode(img_color, img_parsed_color)
+          cl.DeviceStreamDoUndistortion(color_calib, img_parsed_color, img_undistortion_color)
+          mat_undistortion_color = img_undistortion_color.as_nparray()
+          cv2.imshow('undistortion rgb', mat_undistortion_color)
+        else:
+          cl.DeviceStreamImageDecode(img_color, img_parsed_color)
+          cl.DeviceStreamDoUndistortion(color_calib, img_parsed_color, img_undistortion_color)
+
+          cl.DeviceStreamMapRGBImageToDepthCoordinate(depth_calib, img_depth, scale_unit, color_calib, img_undistortion_color, img_registration_color)
+
+          cl.DeviceStreamDepthRender(img_depth, img_registration_render)
+          mat_depth_render = img_registration_render.as_nparray()
+          cv2.imshow('depth', mat_depth_render)
+
+          mat_registration_color = img_registration_color.as_nparray()
+          cv2.imshow('registration rgb', mat_registration_color)
+
+        k = cv2.waitKey(10)
+        if k==ord('q'): 
+          break
+
+    cl.DeviceStreamOff(handle)    
+    cl.Close(handle)
+    pass
+
+if __name__=='__main__':
+    main()
+

Vision/tool/tuyang/frame_trigger.py

@@ -0,0 +1,111 @@
+'''
+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()
+

Vision/tool/tuyang/multidevice_fetch.py

@@ -0,0 +1,106 @@
+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
+
+    #register offline event
+    event = PythonPercipioDeviceEvent()
+    cl.DeviceRegiststerCallBackEvent(event)
+
+    #sn list init
+    sn = [0] * len(dev_list)
+    for idx in range(len(dev_list)):
+      sn[idx] = dev_list[idx].id
+
+    #open device
+    handle = [0] * len(dev_list)
+    for i in range(len(dev_list)):
+      handle[i] = cl.Open(sn[i])
+      if not cl.isValidHandle(handle[i]):
+        err = cl.TYGetLastErrorCodedescription()
+        print('no device found : ', end='')
+        print(err)
+        return
+
+    #device stream config
+    for i in range(len(dev_list)):
+      depth_fmt_list = cl.DeviceStreamFormatDump(handle[i], PERCIPIO_STREAM_DEPTH)
+      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[i], PERCIPIO_STREAM_DEPTH, depth_fmt_list[0])
+
+      err = cl.DeviceLoadDefaultParameters(handle[i])
+      if err:
+        print('Load default parameters fail: ', end='')
+        print(cl.TYGetLastErrorCodedescription())
+      else:
+        print('Load default parameters successful')
+      
+      err = cl.DeviceStreamEnable(handle[i], PERCIPIO_STREAM_DEPTH)
+      if err:
+        print('device stream enable err:{}'.format(err))
+        return
+      
+      cl.DeviceStreamOn(handle[i])
+
+    depth_render = [0] * len(dev_list)
+    for i in range(len(dev_list)):
+      depth_render[i] = image_data()
+
+    while True:
+      if event.IsOffline():
+        break
+      
+      for m in range(len(dev_list)):
+        image_list = cl.DeviceStreamRead(handle[m], -1)
+        for i in range(len(image_list)):
+          frame = image_list[i]
+          if frame.streamID == PERCIPIO_STREAM_DEPTH:
+            cl.DeviceStreamDepthRender(frame, depth_render[m])
+            arr = depth_render[m].as_nparray()
+            cv2.imshow(sn[m],arr)
+
+      k = cv2.waitKey(10)
+      if k==ord('q'): 
+        break
+
+    for i in range(len(dev_list)):
+      cl.DeviceStreamOff(handle[i])    
+    
+    for i in range(len(dev_list)):
+      cl.Close(handle[i])
+    pass
+
+if __name__=='__main__':
+    main()
+

Vision/tool/tuyang/parameter_settings.py

@@ -0,0 +1,109 @@
+'''
+Description: 
+Author: zxy
+Date: 2023-07-14 09:48:00
+LastEditors: zxy
+LastEditTime: 2024-11-25 11:36:57
+'''
+import pcammls
+from pcammls import * 
+import cv2
+import numpy
+import sys
+import os
+
+
+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
+    
+    err = cl.DeviceStreamEnable(handle, PERCIPIO_STREAM_COLOR)
+    if err:
+       print('device stream enable err:{}'.format(err))
+       return
+    
+    #bool:color aec
+    aec = cl.DeviceGetParameter(handle, TY_COMPONENT_RGB_CAM, TY_BOOL_AUTO_EXPOSURE)
+    if aec.isEmpty():
+        print('aec is not support!')
+    else :
+        print('current aec status : {}'.format(aec.toBool()))
+
+        #disable color aec
+        aec = cl.DevParamFromBool(False)
+        err = cl.DeviceSetParameter(handle, TY_COMPONENT_RGB_CAM, TY_BOOL_AUTO_EXPOSURE, aec)
+        print('aec close result : ', end='')
+        print(err)
+
+    #int:color exposure time
+    exp = cl.DeviceGetParameter(handle, TY_COMPONENT_RGB_CAM, TY_INT_EXPOSURE_TIME)
+    if exp.isEmpty():
+        print('exposure time is not support!')
+    else :
+        print('current exposure time status : {}, range : {} - {}, inc : {}'.format(exp.toInt(), exp.mMin(), exp.mMax(), exp.mInc()))
+
+        exposure_time  = int(input('Enter exposure time:'))
+        exp = cl.DevParamFromInt(exposure_time)
+        err = cl.DeviceSetParameter(handle, TY_COMPONENT_RGB_CAM, TY_INT_EXPOSURE_TIME, exp)
+        print('set color exposure time result : ', end='')
+        print(err)
+
+    image_mode = cl.DeviceGetParameter(handle, TY_COMPONENT_RGB_CAM, TY_ENUM_IMAGE_MODE)
+    if image_mode.isEmpty():
+        print('color image mode is not support!')
+    else :
+        list = image_mode.eList()
+        for idx in range(len(list)):
+            mode = list[idx]
+            print('{}: {}x{} - {}'.format(idx, cl.Width(mode), cl.Height(mode), cl.Description(mode)))
+
+        index = int(input('Enter image mode index:'))
+        image_mode = cl.DevParamFromEnum(cl.Value(list[index]))
+        err = cl.DeviceSetParameter(handle, TY_COMPONENT_RGB_CAM, TY_ENUM_IMAGE_MODE, image_mode)
+
+    cl.DeviceStreamOn(handle)
+    img_parsed_color        = image_data()
+    while True:
+        image_list = cl.DeviceStreamRead(handle, 2000)
+        for i in range(len(image_list)):
+            frame = image_list[i]
+            if frame.streamID == PERCIPIO_STREAM_COLOR:
+                img_color = frame
+        
+            cl.DeviceStreamImageDecode(img_color, img_parsed_color)
+            mat_undistortion_color = img_parsed_color.as_nparray()
+            cv2.imshow('rgb', mat_undistortion_color)
+
+        k = cv2.waitKey(10)
+        if k==ord('q'): 
+          break
+
+    cl.DeviceStreamOff(handle)    
+    cl.Close(handle)
+    pass
+
+if __name__=='__main__':
+    main()
+

Vision/tool/tuyang/point3d_fetch.py

@@ -0,0 +1,129 @@
+'''
+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()
+