forked from huangxin/ailai
150 lines
4.7 KiB
Python
150 lines
4.7 KiB
Python
#!/usr/bin/env python
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# -*- coding: UTF-8 -*-
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'''
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@Project ：my_work
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@File ：camera.py
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@IDE ：PyCharm
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@Author ：hjw
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@Date ：2024/8/13 11:34
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'''
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import PyRVC as RVC
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import numpy as np
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class camera_rvc:
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def __init__(self):
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self.caminit_isok = False
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RVC.SystemInit()
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# Choose RVC X Camera type (USB, GigE or All)
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opt = RVC.SystemListDeviceTypeEnum.GigE
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# Scan all RVC X Camera devices.
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ret, devices = RVC.SystemListDevices(opt)
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print("RVC X Camera devices number:%d" % len(devices))
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# Find whether any RVC X Camera is connected or not.
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if len(devices) == 0:
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print("Can not find any RVC X Camera!")
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RVC.SystemShutdown()
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else:
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print("devices size = %d" % len(devices))
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# Create a RVC X Camera and choose use left side camera.
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self.x = RVC.X1.Create(devices[0], RVC.CameraID_Left)
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# x = RVC.X1.Create(devices[0], RVC.CameraID_Right)
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# Test RVC X Camera is valid or not.
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if self.x.IsValid() == True:
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print("RVC X Camera is valid!")
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# Open RVC X Camera.
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ret1 = self.x.Open()
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# Test RVC X Camera is opened or not.
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if ret1 and self.x.IsOpen() == True:
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print("RVC X Camera is opened!")
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self.caminit_isok = True
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else:
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print("RVC X Camera is not opened!")
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RVC.X1.Destroy(self.x)
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RVC.SystemShutdown()
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self.caminit_isok = False
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else:
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print("RVC X Camera is not valid!")
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RVC.X1.Destroy(self.x)
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RVC.SystemShutdown()
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self.caminit_isok = False
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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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# Capture a point map and a image.
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ret2 = self.x.Capture()
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# Create saving address of image and point map.
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if ret2 == True:
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print("RVC X Camera capture successed!")
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# Get image data and image size.
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img = self.x.GetImage()
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# Convert image to array and save it.
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img = np.array(img, copy=False)
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return 1, img
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else:
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print("RVC X Camera capture failed!")
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self.x.Close()
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RVC.X1.Destroy(self.x)
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RVC.SystemShutdown()
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return 0, None
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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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# Capture a point map and a image.
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ret2 = self.x.Capture()
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# Create saving address of image and point map.
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if ret2 == True:
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print("RVC X Camera capture successed!")
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# Convert point map (m) to array and save it.
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pm = np.array(self.x.GetPointMap(), copy=False)
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return 1, pm
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else:
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print("RVC X Camera capture failed!")
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self.x.Close()
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RVC.X1.Destroy(self.x)
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RVC.SystemShutdown()
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return 0, None
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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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# Capture a point map and a image.
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ret2 = self.x.Capture()
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# Create saving address of image and point map.
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if ret2 == True:
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print("RVC X Camera capture successed!")
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# Get image data and image size.
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img = self.x.GetImage()
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# Convert image to array and save it.
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img = np.array(img, copy=False)
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# Convert point map (m) to array and save it.
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pm = np.array(self.x.GetPointMap(), copy=False)
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return 1, img, pm
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else:
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print("RVC X Camera capture failed!")
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self.x.Close()
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RVC.X1.Destroy(self.x)
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RVC.SystemShutdown()
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return 0, None, None
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def release(self):
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if self.caminit_isok == False:
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RVC.SystemShutdown()
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else:
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RVC.X1.Destroy(self.x)
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RVC.SystemShutdown()
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