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))
# write illumination power: 100% pwr_percent = 100 wparams = { dmcam.PARAM_ILLUM_POWER: dmcam.param_val_u(), dmcam.PARAM_INTG_TIME: dmcam.param_val_u(), dmcam.PARAM_FRAME_FORMAT: dmcam.param_val_u(), } wparams[dmcam.PARAM_ILLUM_POWER].illum_power.percent = pwr_percent wparams[dmcam.PARAM_INTG_TIME].intg.intg_us = 1000 wparams[ dmcam.PARAM_FRAME_FORMAT].frame_format.format = dmcam.DM_FRAME_FMT_DISTANCE if not dmcam.param_batch_set(dev, wparams): print(" set parameter failed") print(" Start capture ...") dmcam.cap_start(dev) f = bytearray(320 * 240 * 4 * 2) run = True while run: # get one frame finfo = dmcam.frame_t() 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
def start(self): print('[INF] dmcam_dev_c.start()') dmcam.cap_start(self.dev)
def _start_dmcam(self): if self.dev is None: log.info(" Open dmcam device ..") self.dev = dmcam.dev_open(None) if self.dev.version.ver.sw_ver < 154: print(u"仅支持固件版本不低于于154的模组设备,当前固件版本{},请升级模组固件,详见Readme".format( self.dev.version.ver.sw_ver)) input("") # win32api.MessageBox(0, u"仅支持固件版本不低于于154的模组设备,当前固件版本{},请升级模组固件,详见Readme".format(self.dev.version.ver.sw_ver), u"错误", win32con.MB_OK) sys.exit(0) # - set capture config - cap_cfg = dmcam.cap_cfg_t() cap_cfg.cache_frames_cnt = 10 # framebuffer = 10 cap_cfg.on_error = None # use cap_set_callback_on_error to set cb cap_cfg.on_frame_rdy = None # use cap_set_callback_on_frame_ready to set cb cap_cfg.en_save_replay = False # True = save replay, False = not save cap_cfg.en_save_dist_u16 = False # True to save dist stream for openni replay cap_cfg.en_save_gray_u16 = False # True to save gray stream for openni replay cap_cfg.fname_replay = os.fsencode( "dm_replay.oni") # set replay filename log.info("Set parameters ...") wparams = { dmcam.PARAM_INTG_TIME: dmcam.param_val_u(), dmcam.PARAM_FRAME_RATE: dmcam.param_val_u(), dmcam.PARAM_FRAME_FORMAT: dmcam.param_val_u(), # dmcam.PARAM_HDR_INTG_TIME: dmcam.param_val_u(), dmcam.PARAM_MOD_FREQ: dmcam.param_val_u() } wparams[dmcam.PARAM_INTG_TIME].intg.intg_us = 250 # wparams[dmcam.PARAM_HDR_INTG_TIME].intg.intg_us = 1000 wparams[dmcam.PARAM_FRAME_RATE].frame_rate.fps = 20 wparams[dmcam.PARAM_FRAME_FORMAT].frame_format.format = 2 wparams[dmcam.PARAM_MOD_FREQ].mod_freq = 12000000 amp_min_val = dmcam.filter_args_u() amp_min_val.min_amp = 60 intg_auto_arg = dmcam.filter_args_u() intg_auto_arg.sat_ration = 100 # 自动曝光设置的值 if not dmcam.filter_enable(self.dev, dmcam.DMCAM_FILTER_ID_AMP, amp_min_val, sys.getsizeof(amp_min_val)): log.error("set amp to %d %% failed" % 0) if not dmcam.filter_disable(self.dev, dmcam.DMCAM_FILTER_ID_MEDIAN): log.error("disable Median Filter failed") # hdr = dmcam.filter_args_u() if not dmcam.filter_disable(self.dev, dmcam.DMCAM_FILTER_ID_HDR): log.error("set hdr failed") if not dmcam.filter_enable( self.dev, dmcam.DMCAM_FILTER_ID_AUTO_INTG, intg_auto_arg, sys.getsizeof(intg_auto_arg)): log.error("set auto intg failed") print("set auto intg failed") else: print("set auto intg") if not dmcam.param_batch_set(self.dev, wparams): log.error("set parameter failed") assert self.dev is not None if not self.status: log.info("Start capture ...") dmcam.cap_start(self.dev) self.status = True