first commit

Vision/tool/tuyang/multidevice_fetch.py

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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
+
+    #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()
+