def get_camera_node(serial):
root = NxLibItem() # References the root
cameras = root[ITM_CAMERAS][
ITM_BY_SERIAL_NO] # References the cameras subnode
for i in range(cameras.count()):
found = cameras[i].name() == serial
if found:
return cameras[i]
def main(args):
parser = argparse.ArgumentParser()
parser.add_argument(
"-s",
"--serial",
type=str,
required=True,
help="The serial of the stereo camera, you want to open")
args = parser.parse_args(args)
camera_serial = args.serial
try:
# Waits for the cameras to be initialized
api.initialize()
# Opens the camera with the serial stored in camera_serial variable
cmd = NxLibCommand(CMD_OPEN)
cmd.parameters()[ITM_CAMERAS] = camera_serial
cmd.execute()
# Captures with the previous openend camera
capture = NxLibCommand(CMD_CAPTURE)
capture.parameters()[ITM_CAMERAS] = camera_serial
capture.execute()
# Rectify the the captures raw images
rectification = NxLibCommand(CMD_RECTIFY_IMAGES)
rectification.execute()
# Compute the disparity map
disparity_map = NxLibCommand(CMD_COMPUTE_DISPARITY_MAP)
disparity_map.execute()
# Compute the point map from the disparitu map
point_map = NxLibCommand(CMD_COMPUTE_POINT_MAP)
point_map.execute()
points = NxLibItem()[ITM_CAMERAS][camera_serial][ITM_IMAGES][
ITM_POINT_MAP].get_binary_data()
average_z = compute_average_z(points)
print("The z-Average of this point cloud is {}".format(average_z))
# Closes all open cameras
NxLibCommand(CMD_CLOSE).execute()
except NxLibException as e:
print("An NxLibException occured: Error Text: {}".format(
e.get_error_text()))
except:
print("Something bad happenend, that has been out of our control.")
def main():
try:
# Waits for the cameras to be initialized
api.initialize()
# References to the root of the nxLib tree
root = NxLibItem()
# Reference to the serials subnode of all cameras
cameras = root[ITM_CAMERAS][ITM_BY_SERIAL_NO]
# Loop over the array
for i in range(cameras.count()):
if cameras[i][ITM_STATUS][ITM_OPEN].exists():
is_available = cameras[i][ITM_STATUS][ITM_AVAILABLE].as_bool()
serial = cameras[i].name()
print("Camera with serial {} is currently {}".format(serial, "available" if is_available else "closed"))
except NxLibException as e:
print("An NxLibException occured: Error Text: {}".format(e.get_error_text()))
except:
print("Something bad happenend, that has been out of our control.")
def test_capture_pipeline():
api.initialize()
camera_serial = "test_cam"
cmd = NxLibCommand(CMD_CREATE_CAMERA)
cmd.parameters()[ITM_SERIAL_NUMBER] = camera_serial
cmd.parameters()[ITM_FOLDER_PATH] = test_camera
cmd.execute()
cmd = NxLibCommand(CMD_OPEN)
cmd.parameters()[ITM_CAMERAS] = camera_serial
cmd.execute()
capture = NxLibCommand(CMD_CAPTURE)
capture.parameters()[ITM_CAMERAS] = camera_serial
capture.execute()
img_left = NxLibItem()[ITM_CAMERAS][camera_serial][ITM_IMAGES][ITM_RAW][ITM_LEFT].get_binary_data()
_test_binary_data(img_left, 1024, 1280, 1, numpy.uint8)
img_right = NxLibItem()[ITM_CAMERAS][camera_serial][ITM_IMAGES][ITM_RAW][ITM_RIGHT].get_binary_data()
_test_binary_data(img_right, 1024, 1280, 1, numpy.uint8)
recitfication = NxLibCommand(CMD_RECTIFY_IMAGES)
recitfication.execute()
img_left_rectified = NxLibItem()[ITM_CAMERAS][camera_serial][ITM_IMAGES][ITM_RECTIFIED][ITM_LEFT].get_binary_data()
_test_binary_data(img_left_rectified, 1024, 1280, 1, numpy.uint8)
img_right_rectified = NxLibItem(
)[ITM_CAMERAS][camera_serial][ITM_IMAGES][ITM_RECTIFIED][ITM_RIGHT].get_binary_data()
_test_binary_data(img_right_rectified, 1024, 1280, 1, numpy.uint8)
disparity_map = NxLibCommand(CMD_COMPUTE_DISPARITY_MAP)
disparity_map.execute()
disp_map = NxLibItem()[ITM_CAMERAS][camera_serial][ITM_IMAGES][ITM_DISPARITY_MAP].get_binary_data()
_test_binary_data(disp_map, 1024, 1280, 1, numpy.int16)
point_map = NxLibCommand(CMD_COMPUTE_POINT_MAP)
point_map.execute()
points = NxLibItem()[ITM_CAMERAS][camera_serial][ITM_IMAGES][ITM_POINT_MAP].get_binary_data()
_test_binary_data(points, 1024, 1280, 3, numpy.float32)
def test_is_not_array():
assert NxLibItem()[ITM_DEFAULT_PARAMETERS][ITM_RENDER_VIEW].is_array() == False
def test_is_false():
assert NxLibItem()[ITM_DEFAULT_PARAMETERS][ITM_COMPUTE_DISPARITY_MAP][ITM_STATIC_BUFFERS].is_bool() == False
def test_is_number():
assert NxLibItem()[ITM_CALIBRATION][ITM_PATTERN][ITM_GRID_SPACING].is_number() == True
def test_as_json():
NxLibItem().as_json()
def test_set_and_return():
NxLibItem()["test"]["item"] = 42
assert NxLibItem()["test"]["item"].is_number()
value = NxLibItem()["test"]["item"].as_int()
assert value == 42
def test_exists():
assert NxLibItem()[ITM_DEFAULT_PARAMETERS][ITM_RENDER_VIEW].exists() == True
def test_doesnt_exist():
assert NxLibItem()[ITM_DEFAULT_PARAMETERS]["Blubb"].exists() == False
def test_is_string():
assert NxLibItem()[ITM_CALIBRATION][ITM_PATTERN][ITM_TYPE].is_string() == True
def test_type():
assert NxLibItem()[ITM_DEFAULT_PARAMETERS][ITM_RENDER_VIEW][ITM_SIZE].type() == 5
def test_is_true():
assert NxLibItem()[ITM_DEFAULT_PARAMETERS][ITM_RENDER_VIEW][ITM_SHOW_CAMERAS].is_bool() == True
def test_is_array():
assert NxLibItem()[ITM_DEFAULT_PARAMETERS][ITM_RENDER_VIEW][ITM_SIZE].is_array() == True
def test_is_not_object():
assert NxLibItem()[ITM_DEFAULT_PARAMETERS][ITM_RENDER_VIEW][ITM_SHOW_CAMERAS].is_object() == False
def test_is_object():
assert NxLibItem()[ITM_CALIBRATION][ITM_PATTERN].is_object() == True
def test_is_null():
assert NxLibItem()[ITM_CALIBRATION][ITM_ASSEMBLY_CALIBRATION].is_null() == True