def run(self):
print(" Start capture ...")
dmcam.cap_start(dev)
# blocking code goes here
self.run = True
while self.run:
global f_dist, f_gray, frame_data, f_mutex
if dev is None:
time.sleep(0.5)
# get one frame
finfo = dmcam.frame_t()
ret = dmcam.cap_get_frames(dev, 1, frame_data, finfo) # will blocking wait
# ret = dmcam.cap_get_frame(dev, frame_data, None)
# print("get %d frames" % ret)
if ret > 0:
w = finfo.frame_info.width
h = finfo.frame_info.height
# print(" frame @ %d, %dx%d (%d)" %
# (finfo.frame_info.frame_idx,
# finfo.frame_info.width,
# finfo.frame_info.height,
# finfo.frame_info.frame_size))
f_mutex.lock()
dist_cnt, f_dist = dmcam.frame_get_distance(dev, w * h, frame_data, finfo.frame_info)
gray_cnt, f_gray = dmcam.frame_get_gray(dev, w * h, frame_data, finfo.frame_info)
if dist_cnt != w * h:
f_dist = None
if gray_cnt != w * h:
f_gray = None
f_mutex.unlock()
self.frameReadySignal.emit(0)
self.captureDoneSignal.emit(int(self.run))
def poll_frame(self):
finfo = dmcam.frame_t()
ret = dmcam.cap_get_frame(self.dev, self.frame_data, finfo)
if ret > 0:
w = finfo.frame_info.width
h = finfo.frame_info.height
_, frame_dist = dmcam.frame_get_distance(self.dev, w * h, self.frame_data, finfo.frame_info)
_, frame_gray = dmcam.frame_get_gray(self.dev, w * h, self.frame_data, finfo.frame_info)
self.frame_dist.append(frame_dist.reshape(h, w))
self.frame_gray.append(frame_gray.reshape(h, w))
if len(self.frame_dist) > 4: self.frame_dist.pop(0)
if len(self.frame_gray) > 4: self.frame_gray.pop(0)
self.frame_cnt += 1
return ret > 0
def tof_main(head_alarm):
"""
ToF 主函数
"""
finfo = dmcam.frame_t()
ret = dmcam.cap_get_frames(dev, 1, f, finfo)
# print("get %d frames" % ret)
if ret > 0:
w = finfo.frame_info.width
h = finfo.frame_info.height
dist_cnt, dist = dmcam.frame_get_distance(dev, w * h, f,
finfo.frame_info)
gray_cnt, gray = dmcam.frame_get_gray(dev, w * h, f, finfo.frame_info)
if dist_cnt == w * h:
# -----------------------------------------
dep0 = (dist.reshape(h, w) * 1000)
Z = gray.reshape(h, w)
img_dep = cv2.convertScaleAbs(dep0, None, 1 / 16)
img_to_pred = img_dep[:, cut_edge:320 - cut_edge]
img_to_pred = cv2.merge([img_to_pred] * 3)
img_show = img_to_pred.copy()
# cv2.imwrite('ToF'+'/dep_{}.png'.format(time.time()),img_show)
predict_label = 0
if use_CNN_model:
img_to_pred = np.expand_dims(img_to_pred, axis=0)
y_pred = model.predict(img_to_pred)[0]
if head_alarm == 1:
y_pred[1] += 0.2
predict_label = np.argmax(y_pred)
max_prob = np.max(y_pred)
if max_prob < 0.55:
predict_label = 0
show_label = dl.after_delay(predict_label)
return img_show, show_label
ret = dmcam.cap_get_frames(dev, 1, f, finfo)
# print("get %d frames" % ret)
if ret > 0:
print(" frame @ %d, %dx%d (%d)" %
(finfo.frame_info.frame_idx, finfo.frame_info.width,
finfo.frame_info.height, finfo.frame_info.frame_size))
# print the first 16bytes of the frame
# print([hex(n) for n in f][:16])
w = finfo.frame_info.width
h = finfo.frame_info.height
gray_cnt = 0
dist_cnt, dist = dmcam.frame_get_distance(dev, w * h, f,
finfo.frame_info)
gray_cnt, gray = dmcam.frame_get_gray(dev, w * h, f, finfo.frame_info)
if dist_cnt != w * h:
dist = None
if gray_cnt != w * h:
gray = None
# dist = dmcam.raw2dist(int(len(f) / 8), f)
# gray = dmcam.raw2gray(int(len(f) / 4), f)
# amb = dmcam.raw2amb(int(len(f) / 4), f)
# --- show in TL sub-window ---
if gray is not None:
Z = gray.reshape(h, w, 1)
Z = (255.0 * Z / Z.max()).astype(int)
# convert to 320x240x3 gray
