142 lines
4.1 KiB
Python
142 lines
4.1 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2024/9/19 16:08
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# @Author : hjw
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# @File : CameraPe.py
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'''
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from Vision.tool.percipio.win import pcammls
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from Vision.tool.percipio.win.pcammls import *
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import cv2
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class PythonPercipioDeviceEvent(pcammls.DeviceEvent):
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Offline = False
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def __init__(self):
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pcammls.DeviceEvent.__init__(self)
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def run(self, handle, eventID):
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if eventID==TY_EVENT_DEVICE_OFFLINE:
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print('=== Event Callback: Device Offline!')
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self.Offline = True
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return 0
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def IsOffline(self):
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return self.Offline
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class camera:
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def __init__(self):
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self.caminit_isok = False
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cl = PercipioSDK()
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dev_list = cl.ListDevice()
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for idx in range(len(dev_list)):
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dev = dev_list[idx]
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print('{} -- {} \t {}'.format(idx, dev.id, dev.iface.id))
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if len(dev_list) == 0:
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print('no device')
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return
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if len(dev_list) == 1:
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selected_idx = 0
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else:
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selected_idx = int(input('select a device:'))
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if selected_idx < 0 or selected_idx >= len(dev_list):
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return
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sn = dev_list[selected_idx].id
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# 设备ID
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handle = cl.Open(sn)
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if not cl.isValidHandle(handle):
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err = cl.TYGetLastErrorCodedescription()
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print('no device found : ', end='')
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print(err)
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return
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event = PythonPercipioDeviceEvent()
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cl.DeviceRegiststerCallBackEvent(event)
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color_fmt_list = cl.DeviceStreamFormatDump(handle, PERCIPIO_STREAM_COLOR)
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if len(color_fmt_list) == 0:
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print('device has no color stream.')
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return
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print('color image format list:')
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for idx in range(len(color_fmt_list)):
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fmt = color_fmt_list[idx]
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print('\t{} -size[{}x{}]\t-\t desc:{}'.format(idx, cl.Width(fmt), cl.Height(fmt), fmt.getDesc()))
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cl.DeviceStreamFormatConfig(handle, PERCIPIO_STREAM_COLOR, color_fmt_list[2])
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depth_fmt_list = cl.DeviceStreamFormatDump(handle, PERCIPIO_STREAM_DEPTH)
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if len(depth_fmt_list) == 0:
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print('device has no depth stream.')
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return
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print('depth image format list:')
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for idx in range(len(depth_fmt_list)):
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fmt = depth_fmt_list[idx]
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print('\t{} -size[{}x{}]\t-\t desc:{}'.format(idx, cl.Width(fmt), cl.Height(fmt), fmt.getDesc()))
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cl.DeviceStreamFormatConfig(handle, PERCIPIO_STREAM_DEPTH, depth_fmt_list[2])
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err = cl.DeviceLoadDefaultParameters(handle)
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if err:
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print('Load default parameters fail: ', end='')
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print(cl.TYGetLastErrorCodedescription())
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else:
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print('Load default parameters successful')
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scale_unit = cl.DeviceReadCalibDepthScaleUnit(handle)
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print('depth image scale unit :{}'.format(scale_unit))
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depth_calib = cl.DeviceReadCalibData(handle, PERCIPIO_STREAM_DEPTH)
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color_calib = cl.DeviceReadCalibData(handle, PERCIPIO_STREAM_COLOR)
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pointcloud_data_arr = pointcloud_data_list()
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err = cl.DeviceStreamEnable(handle, PERCIPIO_STREAM_COLOR | PERCIPIO_STREAM_DEPTH)
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if err:
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print('device stream enable err:{}'.format(err))
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return
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cl.DeviceStreamOn(handle)
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def get_img(self):
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""
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'''
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:param api: None
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:return: ret ,img
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'''
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if self.caminit_isok == False:
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return 0, None
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else:
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pass
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def get_point_map(self):
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""
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'''
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:param api: None
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:return: img
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'''
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if self.caminit_isok == False:
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return 0, None
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else:
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pass
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def get_img_and_point_map(self):
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""
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'''
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:param api: None
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:return: ret , img, point_map
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'''
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if self.caminit_isok == False:
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return 0, None, None
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else:
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pass
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def release(self):
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if self.caminit_isok == False:
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pass
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else:
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pass |