def set_hdr(self, v=1):
print('[INF] dmcam_dev_c.set_hdr(%d)' % v)
hdr = dmcam.filter_args_u()
if v > 0:
dmcam.filter_enable(self.dev, dmcam.DMCAM_FILTER_ID_HDR, hdr, sys.getsizeof(hdr))
else:
dmcam.filter_disable(self.dev, dmcam.DMCAM_FILTER_ID_HDR)
def set_auto_arg(self, v=1):
print('[INF] dmcam_dev_c.set_auto_arg(%d)' % v)
intg_auto_arg = dmcam.filter_args_u()
intg_auto_arg.sat_ration = v #自动曝光设置的值
if v > 0:
dmcam.filter_enable(self.dev, dmcam.DMCAM_FILTER_ID_AUTO_INTG, intg_auto_arg, sys.getsizeof(intg_auto_arg)) #开启自动曝光
else:
dmcam.filter_disable(self.dev,dmcam.DMCAM_FILTER_ID_AUTO_INTG) #关闭自动曝光
def set_pix_calib(self, v=1):
print('[INF] dmcam_dev_c.set_pix_calib(%d)' % v)
witem = dmcam.filter_args_u()
witem.case_idx = v
if v > 0:
dmcam.filter_enable(self.dev, dmcam.DMCAM_FILTER_ID_PIXEL_CALIB, witem, sys.getsizeof(witem))
else:
dmcam.filter_disable(self.dev, dmcam.DMCAM_FILTER_ID_PIXEL_CALIB)
def set_median_filter(self, v=1):
print('[INF] dmcam_dev_c.set_median_filter(%d)' % v)
witem = dmcam.filter_args_u()
witem.median_ksize = v
if v > 0:
dmcam.filter_enable(self.dev, dmcam.DMCAM_FILTER_ID_MEDIAN, witem, sys.getsizeof(witem))
else:
dmcam.filter_disable(self.dev, dmcam.DMCAM_FILTER_ID_MEDIAN)
def set_gauss_filter(self, v=1):
print('[INF] dmcam_dev_c.set_gauss_filter(%d)' % v)
witem = dmcam.filter_args_u()
witem.min_amp = v
if v > 0:
dmcam.filter_enable(self.dev, dmcam.DMCAM_FILTER_ID_GAUSS, witem, sys.getsizeof(witem))
else:
dmcam.filter_disable(self.dev, dmcam.DMCAM_FILTER_ID_GAUSS)
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
wparams[dmcam.PARAM_INTG_TIME].intg.intg_us = 1000
wparams[dmcam.PARAM_FRAME_RATE].frame_rate.fps = 20
amp_min_val = dmcam.filter_args_u()
amp_min_val.min_amp = 80
if not dmcam.filter_enable(dev, dmcam.DMCAM_FILTER_ID_AMP, amp_min_val,
sys.getsizeof(amp_min_val)):
print("set amp to %d %% failed" % amp_min_val.min_amp)
if not dmcam.param_batch_set(dev, wparams):
print(" set parameter failed")
print(" Start capture ...")
dmcam.cap_start(dev)
f = bytearray(640 * 480 * 4 * 2)
print(" sampling 100 frames ...")
count = 0
run = True
vis = o3d.visualization.Visualizer()
vis.create_window()
def get_frames(self):
if self.dev is None:
log.warning("Device not initialized, retry to capture in 0.5s!")
time.sleep(0.5)
return
f = bytearray(320 * 240 * 4 * 2)
finfo = dmcam.frame_t()
log.debug("dmcam.cap_get_frames")
ret = dmcam.cap_get_frames(self.dev, 1, f, finfo)
w = finfo.frame_info.width
h = finfo.frame_info.height
intg_auto_arg = dmcam.filter_args_u()
intg_auto_arg.sat_ratio = 5
if not dmcam.filter_enable(
self.dev, dmcam.DMCAM_FILTER_ID_AUTO_INTG, intg_auto_arg,
sys.getsizeof(intg_auto_arg)):
print(" enable AUTO INTG filter (sat_ratio=%d) failed" %
intg_auto_arg.sat_ratio)
if ret <= 0:
if ret == -10:
log.warning("dmcam USB cable unplugged, try to reconnect!")
self._close_dmcam()
self._init_dmcam()
self._start_dmcam()
elif ret == 0:
self.empty_frame_cnt += 1
if self.empty_frame_cnt > 20:
log.warning("dmcam capture timeout, restart capture")
self._stop_dmcam()
self._start_dmcam()
self.empty_frame_cnt = 0
else:
log.warning("dmcam capture error, errono:{}".format(ret))
self._stop_dmcam()
self._start_dmcam()
else:
self.empty_frame_cnt = 0
print()
dist_cnt, dist = dmcam.frame_get_distance(self.dev, w * h, f,
finfo.frame_info)
# gray_cnt, gray = dmcam.frame_get_gray(self.dev, w * h, f, finfo.frame_info)
# gray_data = gray.astype(np.uint16)
# gray = ((gray/16).astype(np.uint8)).reshape(240,320)
if dist_cnt == w * h:
data = (dist * 1000).astype(np.uint16)
frame = data.reshape(240, 320)
cv2.imshow('frame', cv2.convertScaleAbs(frame, None, 1 / 20))
cv2.waitKey(1)
# ## 静态手势
img_s = frame.copy()
result_s, result_str = static(img_s)
self.result_list = update_win(self.result_list,
result_s,
win_len=5)
## 动态手势
img_d = frame.copy()
img_d = img_d.astype(np.float32) / 10000
self.algo = mainloop_trk(self.algo, img_d, self.viewer,
self.bg)
self.viewer.put_text(str('手势识别结果为：'), 150, 1000)
if result_s > 0 and self.algo.decision == 'point':
if self.ENABLE_VIEW:
# if len(self.result_list)>0:
# counts = np.bincount(self.result_list)
# idx = np.argmax(counts)
# if idx > 0:
# self.viewer.put_text(str(label[idx]),200,1050)
self.viewer.put_text(str(result_str), 200, 1000)
# final_result = result_str
else:
x, y = self.algo.xlist[self.algo.idx], self.algo.ylist[
self.algo.idx]
if self.ENABLE_VIEW:
if self.algo.trace_pattern['type'] != 'point':
self.viewer.draw_circle(int(x * 2 + 400),
int(y * 2 + 165),
r=5,
line_wid=5)
draw_trace_mode(
self.viewer,
mode=self.algo.trace_pattern['type'],
pos=self.algo.trace_pattern['param'])
if self.algo.trace_pattern['type'] == 'circle':
self.viewer.put_text(str('转圈'), 215, 1050)
elif self.algo.trace_pattern['type'] == 'h-line':
self.viewer.put_text(str('水平移动'), 215, 1050)
elif self.algo.trace_pattern['type'] == 'v-line':
self.viewer.put_text(str('竖直移动'), 215, 1050)
# self.result_list=[]
# if self.algo.trace_pattern['type'] == 'point':
# final_result = 'None'
# else:
# final_result = self.algo.trace_pattern['type']
# if final_result == "circle":
# pos = self.algo.trace_pattern['param']
# update_win(pos_win, pos, win_len=3)
# if pos_win[0] < pos_win[1] and pos_win[1]<pos_win[2]:
# final_result = "c-circle"
# elif pos_win[0] > pos_win[1] and pos_win[1] > pos_win[2]:
# final_result = "circle"
# if final_result == "h-line":
# pos = self.algo.trace_pattern['param']
# update_win(pos_win, pos, win_len=3)
# if pos_win[0] < pos_win[1] and pos_win[1]<pos_win[2]:
# final_result = "right"
# elif pos_win[0] > pos_win[1] and pos_win[1] > pos_win[2]:
# final_result = "left"
# if final_result == "v-line":
# pos = self.algo.trace_pattern['param']
# update_win(pos_win, pos, win_len=3)
# if pos_win[0] < pos_win[1] and pos_win[1]<pos_win[2]:
# final_result = "down"
# elif pos_win[0] > pos_win[1] and pos_win[1] > pos_win[2]:
# final_result = "up"
# 刷新屏幕显示
if self.ENABLE_VIEW:
self.viewer.update()
evt, param = self.viewer.poll_evt()
if evt == 'quit':
return False
return True
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
