def __init__(self):
dmcam.init(None)
dmcam.log_cfg(dmcam.LOG_LEVEL_INFO, dmcam.LOG_LEVEL_DEBUG,
dmcam.LOG_LEVEL_NONE)
self.dev = dmcam.dev_open(None)
assert self.dev is not None
# - 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 = True # 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
dmcam.cap_config_set(self.dev, cap_cfg)
#dmcam.cap_set_frame_buffer(self.dev, None, 10 * 320 * 240 * 4 * 2)
self.frame_data = bytearray(320 * 240 * 4 * 4)
self.frame_dist = [np.zeros((240, 320))]
self.frame_gray = [np.zeros((240, 320))]
self.frame_cnt = 0
self.start()
return
dev = dmcam.dev_open(devs[0])
# Or open by URI
# dev = dmcam.dev_open_by_uri(br"xxx")
assert dev is not None
# - 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
dmcam.cap_config_set(dev, cap_cfg)
# dmcam.cap_set_callback_on_frame_ready(dev, on_frame_rdy)
# dmcam.cap_set_callback_on_error(dev, on_cap_err)
print(" Set paramters ...")
wparams = {
dmcam.PARAM_INTG_TIME: dmcam.param_val_u(),
dmcam.PARAM_FRAME_RATE: dmcam.param_val_u(),
dmcam.PARAM_MOD_FREQ: dmcam.param_val_u(),
}
# set dual frequency modulation, note that mod_freq0 should always be larger than mod_freq1
# you can trivially set mod_freq1 to zeros, if single frequency modulation is desired
wparams[dmcam.PARAM_MOD_FREQ].mod_freq0=100000000
wparams[dmcam.PARAM_MOD_FREQ].mod_freq1=36000000