UPDATE Vision 更新图像漾SDK,补充彩色图与深度图对齐方式

2024-12-11 19:22:16 +08:00
parent f4b6bd32ee
commit c81ccecc7d
18 changed files with 12257 additions and 11 deletions
--- a/Vision/tool/tuyang/parameter_settings.py
+++ b/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()
+