UPDATE Vision 新增图漾相机

Vision/tool/CameraPe.py

@@ -0,0 +1,142 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+'''
+# @Time    : 2024/9/19 16:08
+# @Author  : hjw
+# @File    : CameraPe.py
+'''
+from Vision.tool.percipio.win import pcammls
+from Vision.tool.percipio.win.pcammls import *
+import cv2
+
+
+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
+
+class camera:
+
+    def __init__(self):
+        self.caminit_isok = False
+        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
+        # 设备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[2])
+
+        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[2])
+
+        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)
+
+        pointcloud_data_arr = pointcloud_data_list()
+
+        err = cl.DeviceStreamEnable(handle, PERCIPIO_STREAM_COLOR | PERCIPIO_STREAM_DEPTH)
+        if err:
+            print('device stream enable err:{}'.format(err))
+            return
+
+        cl.DeviceStreamOn(handle)
+
+
+
+    def get_img(self):
+        ""
+        '''
+        :param api: None
+        :return: ret ,img 
+        '''
+        if self.caminit_isok == False:
+            return 0, None
+        else:
+            pass
+
+    def get_point_map(self):
+        ""
+        '''
+        :param api: None
+        :return: img 
+        '''
+        if self.caminit_isok == False:
+            return 0, None
+        else:
+            pass
+
+    def get_img_and_point_map(self):
+        ""
+        '''
+        :param api: None
+        :return: ret , img, point_map
+        '''
+        if self.caminit_isok == False:
+            return 0, None, None
+        else:
+            pass
+
+    def release(self):
+        if self.caminit_isok == False:
+            pass
+        else:
+            pass