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
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
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
print(" No device found")
sys.exit(1)
print("found %d device" % len(devs))
for i in range(len(devs)):
print("DMCAM#%d [%03d:%03d:%03d]: VENDOR=%s, PROD=%s, SERIAL=%s" %
(i, devs[i].if_info.info.usb.usb_port_num,
devs[i].if_info.info.usb.usb_bus_num,
devs[i].if_info.info.usb.usb_dev_addr, devs[i].vendor,
devs[i].product, devs[i].serial))
print(" Open dmcam device ..")
# open the first device
# dev = dmcam.dev_open(devs[0])
dev = dmcam.dev_open(None)
assert dev is not None
# print(" Config capture param ..")
# set 10 frames framebuffer
dmcam.cap_set_frame_buffer(dev, None, 10 * 320 * 240 * 4)
# dmcam.cap_set_callback_on_frame_ready(dev, on_frame_rdy)
dmcam.cap_set_callback_on_error(dev, on_cap_err)
# write to ramp mode
# dmcam.reg_batch_write(dev, dmcam.DEV_REG_TFC_DE, 0x31, np.array([0x1803], dtype="uint32"))
# regval = dmcam.reg_batch_read(dev, dmcam.DEV_REG_TFC_DE, 0x31, 1)
# print(regval)
# assert regval[0] == 0x1803
print(" Set paramters ...")
# -- list device
print(" Scanning dmcam device ..")
devs = dmcam.dev_list()
if devs is None:
print(" No device found")
sys.exit(1)
print("found %d device" % len(devs))
for i in range(len(devs)):
print("#%d: %s" % (i, dmcam.dev_get_uri(devs[i], 256)[0]))
print(" Open dmcam device ..")
# open the first device
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)
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
