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
