测试完成代码

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()
+