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UPDATE Vision 更新图像漾SDK,补充彩色图与深度图对齐方式

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This commit is contained in:
hjw
2024-12-11 19:22:16 +08:00
parent f4b6bd32ee
commit c81ccecc7d
18 changed files with 12257 additions and 11 deletions
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14
Vision/camera_coordinate_dete.py
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@ -11,8 +11,11 @@
import numpy as np
import cv2
import open3d as o3d
import time
import os
from Vision.tool.CameraRVC import camera_rvc
from Vision.tool.CameraPe import camera_pe
from Vision.tool.CameraPe_color2depth import camera_pe
from Vision.yolo.yolov8_pt_seg import yolov8_segment
from Vision.yolo.yolov8_openvino import yolov8_segment_openvino
from Vision.tool.utils import find_position
@ -21,8 +24,7 @@ from Vision.tool.utils import get_disk_space
from Vision.tool.utils import remove_nan_mean_value
from Vision.tool.utils import out_bounds_dete
from Vision.tool.utils import uv_to_XY
import time
import os
class Detection:
@ -43,7 +45,7 @@ class Detection:
self.seg_distance_threshold = 10 # 1厘米
elif self.cameraType == 'Pe':
self.camera_rvc = camera_pe()
self.seg_distance_threshold = 10 # 2厘米
self.seg_distance_threshold = 15 # 2厘米
else:
print('相机参数错误')
return
@ -64,7 +66,7 @@ class Detection:
self.model = yolov8_segment_openvino(model_path, device, conf_thres=0.3, iou_thres=0.3)
def get_position(self, Point_isVision=False, Box_isPoint=True, First_Depth =True, Iter_Max_Pixel = 30, save_img_point=0, Height_reduce = 50, width_reduce = 50):
def get_position(self, Point_isVision=False, Box_isPoint=True, First_Depth =True, Iter_Max_Pixel = 30, save_img_point=0, Height_reduce = 60, width_reduce = 100):
"""
检测料袋相关信息
:param Point_isVision: 点云可视化
@ -81,7 +83,7 @@ class Detection:
:return box_list: list 内缩检测框四顶点，形如[[x1,y1],[],[],[]]
"""
ret, img, pm = self.camera_rvc.get_img_and_point_map() # 拍照，获取图像及
ret, img, pm, _depth_align = self.camera_rvc.get_img_and_point_map() # 拍照，获取图像及
if self.camera_rvc.caminit_isok == True:
if ret == 1:
if save_img_point != 0:

171
Vision/tool/CameraPe_color2depth.py Normal file
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@ -0,0 +1,171 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time : 2024/9/19 16:08
# @Author : hjw
# @File : CameraPe.py
'''
from Vision.tool.tuyang import pcammls
from Vision.tool.tuyang.pcammls import *
from Expection import VisionError_Code
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_pe():
def __init__(self):
super().__init__()
self.caminit_isok = False
self.cl = PercipioSDK()
dev_list = self.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
self.handle = self.cl.Open(sn)
if not self.cl.isValidHandle(self.handle):
err = self.cl.TYGetLastErrorCodedescription()
print('no device found : ', end='')
print(err)
return
self.event = PythonPercipioDeviceEvent()
self.cl.DeviceRegiststerCallBackEvent(self.event)
color_fmt_list = self.cl.DeviceStreamFormatDump(self.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)): # 查看图像分辨率
# fmt = color_fmt_list[idx]
# print('\t{} -size[{}x{}]\t-\t desc:{}'.format(idx, cl.Width(fmt), cl.Height(fmt), fmt.getDesc()))
self.cl.DeviceStreamFormatConfig(self.handle, PERCIPIO_STREAM_COLOR, color_fmt_list[0]) # 图像大小
depth_fmt_list = self.cl.DeviceStreamFormatDump(self.handle, PERCIPIO_STREAM_DEPTH)
if len(depth_fmt_list) == 0:
print('device has no depth stream.')
return
# print('depth image format list:') # 查看深度图分辨率
# 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()))
self.cl.DeviceStreamFormatConfig(self.handle, PERCIPIO_STREAM_DEPTH, depth_fmt_list[0]) # 深度图大小
self.depth_calib_data = self.cl.DeviceReadCalibData(self.handle, PERCIPIO_STREAM_DEPTH)
err = self.cl.DeviceLoadDefaultParameters(self.handle)
if err:
print('Load default parameters fail: ', end='')
print(self.cl.TYGetLastErrorCodedescription())
else:
print('Load default parameters successful')
self.scale_unit = self.cl.DeviceReadCalibDepthScaleUnit(self.handle)
#print('depth image scale unit :{}'.format(scale_unit))
self.depth_calib = self.cl.DeviceReadCalibData(self.handle, PERCIPIO_STREAM_DEPTH)
self.color_calib = self.cl.DeviceReadCalibData(self.handle, PERCIPIO_STREAM_COLOR)
err = self.cl.DeviceStreamEnable(self.handle, PERCIPIO_STREAM_COLOR | PERCIPIO_STREAM_DEPTH)
if err:
print('device stream enable err:{}'.format(err))
return
self.cl.DeviceStreamOn(self.handle)
# self.pointcloud_data_arr = pointcloud_data_list()
# self.img_registration_depth = image_data()
# self.img_registration_render = image_data()
# self.img_parsed_color = image_data()
# self.img_undistortion_color = image_data()
# self.img_registration_color = image_data()
self.img_registration_render = image_data()
self.img_registration_depth = image_data()
self.img_registration_render = image_data()
self.img_parsed_color = image_data()
self.img_undistortion_color = image_data()
self.img_registration_color = image_data()
self.pointcloud_data_arr = pointcloud_data_list()
self.caminit_isok = True
print(VisionError_Code.CAMERA_SUCCESS)
def get_img_and_point_map(self):
""
'''
:param api: None
:return: ret , img, point_map
'''
if self.caminit_isok == False or self.event.IsOffline():
return 0, None, None
else:
image_list = self.cl.DeviceStreamRead(self.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
self.cl.DeviceStreamImageDecode(img_color, self.img_parsed_color)
self.cl.DeviceStreamDoUndistortion(self.color_calib, self.img_parsed_color, self.img_undistortion_color)
self.cl.DeviceStreamMapRGBImageToDepthCoordinate(self.depth_calib, img_depth, self.scale_unit, self.color_calib,
self.img_undistortion_color, self.img_registration_color)
# 对齐
# mat_depth_render = self.img_registration_render.as_nparray()
self.cl.DeviceStreamDepthRender(img_depth, self.img_registration_render)
mat_depth_render = self.img_registration_render.as_nparray()
self.cl.DeviceStreamMapDepthImageToPoint3D(img_depth, self.depth_calib_data, self.scale_unit, self.pointcloud_data_arr)
p3d_nparray = self.pointcloud_data_arr.as_nparray()
mat_registration_color = self.img_registration_color.as_nparray() # 对齐的彩色图
return 1, mat_registration_color, p3d_nparray, mat_depth_render
else:
return 0, None, None, None
def release(self):
if self.caminit_isok == False:
pass
else:
self.cl.DeviceStreamOff(self.handle)
self.cl.Close(self.handle)
pass
# my_camera = camera()
# while True:
# ret, img, p3d_nparray = my_camera.get_img_and_point_map()
# cv2.imshow('img', img)
# cv2.imshow('3d',p3d_nparray)
# cv2.waitKey(1)

182
Vision/tool/CameraPe_depth2color.py Normal file
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@ -0,0 +1,182 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time : 2024/9/19 16:08
# @Author : hjw
# @File : CameraPe.py
'''
from Vision.tool.tuyang import pcammls
from Vision.tool.tuyang.pcammls import *
from Expection import VisionError_Code
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_pe():
def __init__(self):
super().__init__()
self.caminit_isok = False
self.cl = PercipioSDK()
dev_list = self.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
self.handle = self.cl.Open(sn)
if not self.cl.isValidHandle(self.handle):
err = self.cl.TYGetLastErrorCodedescription()
print('no device found : ', end='')
print(err)
return
self.event = PythonPercipioDeviceEvent()
self.cl.DeviceRegiststerCallBackEvent(self.event)
color_fmt_list = self.cl.DeviceStreamFormatDump(self.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)): # 查看图像分辨率
# fmt = color_fmt_list[idx]
# print('\t{} -size[{}x{}]\t-\t desc:{}'.format(idx, cl.Width(fmt), cl.Height(fmt), fmt.getDesc()))
self.cl.DeviceStreamFormatConfig(self.handle, PERCIPIO_STREAM_COLOR, color_fmt_list[2]) # 图像大小
depth_fmt_list = self.cl.DeviceStreamFormatDump(self.handle, PERCIPIO_STREAM_DEPTH)
if len(depth_fmt_list) == 0:
print('device has no depth stream.')
return
# print('depth image format list:') # 查看深度图分辨率
# 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()))
self.cl.DeviceStreamFormatConfig(self.handle, PERCIPIO_STREAM_DEPTH, depth_fmt_list[2]) # 深度图大小
self.depth_calib_data = self.cl.DeviceReadCalibData(self.handle, PERCIPIO_STREAM_DEPTH)
err = self.cl.DeviceLoadDefaultParameters(self.handle)
if err:
print('Load default parameters fail: ', end='')
print(self.cl.TYGetLastErrorCodedescription())
else:
print('Load default parameters successful')
self.scale_unit = self.cl.DeviceReadCalibDepthScaleUnit(self.handle)
#print('depth image scale unit :{}'.format(scale_unit))
self.depth_calib = self.cl.DeviceReadCalibData(self.handle, PERCIPIO_STREAM_DEPTH)
self.color_calib = self.cl.DeviceReadCalibData(self.handle, PERCIPIO_STREAM_COLOR)
err = self.cl.DeviceStreamEnable(self.handle, PERCIPIO_STREAM_COLOR | PERCIPIO_STREAM_DEPTH)
if err:
print('device stream enable err:{}'.format(err))
return
self.cl.DeviceStreamOn(self.handle)
# self.pointcloud_data_arr = pointcloud_data_list()
# self.img_registration_depth = image_data()
# self.img_registration_render = image_data()
# self.img_parsed_color = image_data()
# self.img_undistortion_color = image_data()
# self.img_registration_color = image_data()
self.img_registration_render = image_data()
self.img_registration_depth = image_data()
self.img_registration_render = image_data()
self.img_parsed_color = image_data()
self.img_undistortion_color = image_data()
self.img_registration_color = image_data()
self.pointcloud_data_arr = pointcloud_data_list()
self.caminit_isok = True
print(VisionError_Code.CAMERA_SUCCESS)
def get_img_and_point_map(self):
""
'''
:param api: None
:return: ret , img, point_map
'''
if self.caminit_isok == False or self.event.IsOffline():
return 0, None, None
else:
image_list = self.cl.DeviceStreamRead(self.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
self.cl.DeviceStreamMapDepthImageToColorCoordinate(self.depth_calib, img_depth, self.scale_unit, self.color_calib,
img_color.width, img_color.height, self.img_registration_depth)
self.cl.DeviceStreamDepthRender(self.img_registration_depth, self.img_registration_render)
mat_depth_render = self.img_registration_render.as_nparray()
self.cl.DeviceStreamMapDepthImageToPoint3D(self.img_registration_depth, self.depth_calib_data, self.scale_unit,
self.pointcloud_data_arr)
p3d_nparray = self.pointcloud_data_arr.as_nparray()
self.cl.DeviceStreamImageDecode(img_color, self.img_parsed_color)
self.cl.DeviceStreamDoUndistortion(self.color_calib, self.img_parsed_color, self.img_undistortion_color)
mat_undistortion_color = self.img_undistortion_color.as_nparray()
# self.cl.DeviceStreamMapRGBImageToDepthCoordinate(self.depth_calib, img_depth, self.scale_unit, self.color_calib,
# self.img_undistortion_color, self.img_registration_color)
# # 对齐
# # mat_depth_render = self.img_registration_render.as_nparray()
# self.cl.DeviceStreamDepthRender(img_depth, self.img_registration_render)
# mat_depth_render = self.img_registration_render.as_nparray()
#
# self.cl.DeviceStreamMapDepthImageToPoint3D(img_depth, self.depth_calib_data, self.scale_unit, self.pointcloud_data_arr)
# p3d_nparray = self.pointcloud_data_arr.as_nparray()
#
# mat_registration_color = self.img_registration_color.as_nparray() # 对齐的彩色图
return 1, mat_undistortion_color, p3d_nparray, mat_depth_render
else:
return 0, None, None, None
def release(self):
if self.caminit_isok == False:
pass
else:
self.cl.DeviceStreamOff(self.handle)
self.cl.Close(self.handle)
pass
# my_camera = camera()
# while True:
# ret, img, p3d_nparray = my_camera.get_img_and_point_map()
# cv2.imshow('img', img)
# cv2.imshow('3d',p3d_nparray)
# cv2.waitKey(1)

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Vision/tool/tuyang/_pcammls.pyd Normal file
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142
Vision/tool/tuyang/frame_fetch.py Normal file
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@ -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()

103
Vision/tool/tuyang/frame_fetchIR.py Normal file
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'''
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()

97
Vision/tool/tuyang/frame_isp.py Normal file
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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()

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Vision/tool/tuyang/frame_registration.py Normal file
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'''
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()

111
Vision/tool/tuyang/frame_trigger.py Normal file
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'''
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()

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Vision/tool/tuyang/multidevice_fetch.py Normal file
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@ -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()

109
Vision/tool/tuyang/parameter_settings.py Normal file
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@ -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()

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Vision/tool/tuyang/point3d_fetch.py Normal file
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@ -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()

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get_position_test.py
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@ -6,8 +6,11 @@
# @File : get_position_test.py
'''
import time
import platform
import cv2
import os
from Vision.camera_coordinate_dete_img import Detection
from Vision.camera_coordinate_dete import Detection
from Trace.handeye_calibration import *
from Vision.tool.utils import get_disk_space
from Vision.tool.utils import remove_nan_mean_value
@ -15,9 +18,7 @@ from Vision.detect_person import DetectionPerson
from Vision.detect_bag_num import DetectionBagNum
from Vision.tool.CameraHIK import camera_HIK
from Vision.bag_collection import DetectionBag
import platform
import cv2
import os
#
"""
测试 Vision
@ -26,7 +27,7 @@ import os
def detectionPosition_test():
detection = Detection()
while True:
ret, img, xyz, nx_ny_nz, box = detection.get_position(Point_isVision=True)
ret, img, xyz, nx_ny_nz, box = detection.get_position(Point_isVision=True, save_img_point=1)
if ret==1:
print('xyz点云坐标：', xyz)
print('nx_ny_nz法向量：', nx_ny_nz)