def setup():
cameras = []
Camera.setRange(0, 4500) ## points in the distance range to be colored
uiOffset = 20
ports = Camera.scan() ## Scan for available Tau Camera devices
for port in ports:
camera = Camera.open(port) ## Open the first available Tau Camera
camera.setModulationChannel(0) ## autoChannelEnabled: 0, channel: 0
camera.setIntegrationTime3d(0, 1000) ## set integration time 0: 1000
camera.setMinimalAmplitude(0, 10) ## set minimal amplitude 0: 80
cameras.append(camera)
cameraInfo = camera.info()
print("\nToF camera opened successfully:")
print(" model: %s" % cameraInfo.model)
print(" firmware: %s" % cameraInfo.firmware)
print(" uid: %s" % cameraInfo.uid)
print(" resolution: %s" % cameraInfo.resolution)
print(" port: %s" % cameraInfo.port)
cv2.namedWindow('Tau %s' % cameraInfo.uid)
cv2.moveWindow('Tau %s' % cameraInfo.uid, 20, uiOffset)
uiOffset += 340
if len(ports) > 0:
print("\nPress Esc key over GUI or Ctrl-c in terminal to shutdown ...")
return cameras
def setup(serialPort=None):
port = None
camera = None
# if no serial port is specified, scan for available Tau Camera devices
if serialPort is None:
ports = Camera.scan() ## Scan for available Tau Camera devices
if len(ports) > 0:
port = ports[0]
else:
port = serialPort
if port is not None:
Camera.setRange(0, 4500) ## points in the distance range to be colored
camera = Camera.open(port) ## Open the first available Tau Camera
camera.setModulationChannel(0) ## autoChannelEnabled: 0, channel: 0
camera.setIntegrationTime3d(0, 1000) ## set integration time 0: 1000
camera.setMinimalAmplitude(0, 10) ## set minimal amplitude 0: 80
cameraInfo = camera.info()
print("\nToF camera opened successfully:")
print(" model: %s" % cameraInfo.model)
print(" firmware: %s" % cameraInfo.firmware)
print(" uid: %s" % cameraInfo.uid)
print(" resolution: %s" % cameraInfo.resolution)
print(" port: %s" % cameraInfo.port)
print("\nPress Esc key over GUI or Ctrl-c in terminal to shutdown ...")
return camera
def setup():
camera = None
ports = Camera.scan() ## Scan for available Tau Camera devices
if len(ports) > 0:
Camera.setRange(0, 4500) ## points in the distance range to be colored
camera = Camera.open(ports[0]) ## Open the first available Tau Camera
camera.setModulationChannel(0) ## autoChannelEnabled: 0, channel: 0
camera.setIntegrationTime3d(0, 1000) ## set integration time 0: 1000
camera.setMinimalAmplitude(0, 10) ## set minimal amplitude 0: 80
cameraInfo = camera.info()
print("\nToF camera opened successfully:")
print(" model: %s" % cameraInfo.model)
print(" firmware: %s" % cameraInfo.firmware)
print(" uid: %s" % cameraInfo.uid)
print(" resolution: %s" % cameraInfo.resolution)
print(" port: %s" % cameraInfo.port)
print("\nPress Esc key over GUI or Ctrl-c in terminal to shutdown ...")
cv2.namedWindow('Depth Map')
cv2.namedWindow('Grayscale')
cv2.moveWindow('Depth Map', 20, 20)
cv2.moveWindow('Grayscale', 20, 360)
return camera
def setup():
Camera.setRange(0, 2000)
print("\nPress Esc key over GUI or Ctrl-c in terminal to shutdown ...")
cv2.namedWindow('Depth Map')
cv2.namedWindow('Amplitude')
cv2.moveWindow('Depth Map', 20, 20)
cv2.moveWindow('Amplitude', 20, 360)
def run(framesDir):
delay = 0.1 #sec
fileList = os.listdir(framesDir)
fileList.sort()
for filename in fileList:
if not '.frame' in filename: continue
print (filename)
with open(os.path.join(framesDir, filename), 'rb') as f:
dataArray = bytearray(f.read())
frame = Camera.composeFrame(dataArray, FrameType.DISTANCE_AMPLITUDE)
if frame:
mat_depth_rgb = np.frombuffer(frame.data_depth_rgb, dtype=np.uint16, count=-1, offset=0).reshape(frame.height, frame.width, 3)
mat_depth_rgb = mat_depth_rgb.astype(np.uint8)
mat_amplitude = np.frombuffer(frame.data_amplitude, dtype=np.float32, count=-1, offset=0).reshape(frame.height, frame.width)
mat_amplitude = mat_amplitude.astype(np.uint8)
# Upscalling the image
upscale = 4
depth_img = cv2.resize(mat_depth_rgb, (frame.width*upscale, frame.height*upscale))
amplitude_img = cv2.resize(mat_amplitude, (frame.width*upscale, frame.height*upscale))
cv2.imshow('Depth Map', depth_img)
cv2.imshow('Amplitude', amplitude_img)
if cv2.waitKey(1) == 27: break
time.sleep(delay)
def scanPortsAndSetup():
camera = None
ports = Camera.scan() ## Scan for available Tau Camera devices
print('\nFound %d possible device(s)' % len(ports))
for port in ports:
print('Attempting to connect to device on port \'%s\'' % port)
camera = setup(port)
return camera
def setup():
camera = None
ports = Camera.scan() ## Scan for available Tau Camera devices
if len(ports) > 0:
camera = Camera.open(ports[0]) ## Open the first available Tau Camera
camera.setModulationChannel(0) ## autoChannelEnabled: 0, channel: 0
camera.setIntegrationTime3d(0, 1000) ## set integration time 0: 1000
camera.setMinimalAmplitude(0, 10) ## set minimal amplitude 0: 80
cameraInfo = camera.info()
print("\nToF camera opened successfully:")
print(" model: %s" % cameraInfo.model)
print(" firmware: %s" % cameraInfo.firmware)
print(" uid: %s" % cameraInfo.uid)
print(" resolution: %s" % cameraInfo.resolution)
print(" port: %s" % cameraInfo.port)
print("\nPress Ctrl-c in terminal to shutdown ...")
return camera
def setup(port):
camera = None
Camera.setRange(0, 4500) ## points in the distance range to be colored
camera = Camera.open(port) ## Open the first available Tau Camera
camera.setModulationChannel(0) ## autoChannelEnabled: 0, channel: 0
camera.setIntegrationTime3d(0, 1000) ## set integration time 0: 1000
camera.setMinimalAmplitude(0, 10) ## set minimal amplitude 0: 80
cameraInfo = camera.info()
print("\nToF camera opened successfully:")
print(" model: %s" % cameraInfo.model)
print(" firmware: %s" % cameraInfo.firmware)
print(" uid: %s" % cameraInfo.uid)
print(" resolution: %s" % cameraInfo.resolution)
print(" port: %s" % cameraInfo.port)
print("\nPress Esc key over GUI or Ctrl-c in terminal to shutdown ...")
return camera
def setup():
camera = None
ports = Camera.scan() ## Scan for available Tau Camera devices
if len(ports) > 0:
'''
cameraNum = 0
cameraSelected = 0
if len(ports) >= 1:
print("\nMore than 1 cameras found:")
for port in ports:
print(cameraNum, ':', port)
cameraNum += 1
cameraSelected = int(input("Enter the number to select a camera from the list:"))
print(cameraSelected, "entered, try to connect to port ", ports[cameraSelected])
'''
Camera.setRange(0, 4500) ## points in the distance range to be colored
camera = Camera.open(ports[0])
#camera = Camera.open(ports[cameraSelected])
camera.setModulationChannel(0) ## autoChannelEnabled: 0, channel: 0
camera.setIntegrationTime3d(0, 1000) ## set integration time 0: 1000
camera.setMinimalAmplitude(0, 10) ## set minimal amplitude 0: 80
cameraInfo = camera.info()
print("\nToF camera opened successfully:")
print(" model: %s" % cameraInfo.model)
print(" firmware: %s" % cameraInfo.firmware)
print(" uid: %s" % cameraInfo.uid)
print(" resolution: %s" % cameraInfo.resolution)
print(" port: %s" % cameraInfo.port)
print("\nPress Esc key over GUI or Ctrl-c in terminal to shutdown ...")
return camera
async def send3DPoints(websocket, path):
global _count
global running
start_time = time()
_count = 0
async for message in websocket:
data = json.loads(message)
if data['cmd'] == 'read':
'''
Camera supports frame type FrameType.DISTANCE, FrameType.DISTANCE_GRAYSCALE and FrameType.DISTANCE_AMPLITUDE,
default FrameType is FrameType.DISTANCE_GRAYSCALE
frame = camera.readFrame(FrameType.DISTANCE_AMPLITUDE)
To get a 3D Frame object directly from calling camera.readFrame() is an expensive call,
alternatively you may call camera.readFrameRawData to get raw data
and possibly to compose Frame from a separate thread
to boost frame rate:
...
from TauLidarCommon.d3 import FrameBuilder
...
frameBuilder = FrameBuilder()
...
dataArray = camera.readFrameRawData(frameType=FrameType.DISTANCE_GRAYSCALE)
Possibly you may compose Frame from a separate thread
frame = frameBuilder.composeFrame(dataArray, frameType=FrameType.DISTANCE_GRAYSCALE)
Default FrameType is FrameType.DISTANCE_GRAYSCALE
Following examples are how to construct depth map, grayscale and amplitude image accordingly:
mat_depth_rgb = np.frombuffer(frame.data_depth_rgb, dtype=np.uint16, count=-1, offset=0).reshape(frame.height, frame.width, 3)
mat_depth_rgb = mat_depth_rgb.astype(np.uint8)
mat_grayscale = np.frombuffer(frame.data_grayscale, dtype=np.uint16, count=-1, offset=0).reshape(frame.height, frame.width)
mat_grayscale = mat_grayscale.astype(np.uint8)
mat_amplitude = np.frombuffer(frame.data_amplitude, dtype=np.float32, count=-1, offset=0).reshape(frame.height, frame.width)
mat_amplitude = mat_amplitude.astype(np.uint8)
'''
frame = camera.readFrame(frameType=FrameType.DISTANCE_AMPLITUDE)
if frame == None:
print('skip frame')
continue
try:
payload = json.dumps({
'points': frame.points_3d,
'depth': frame.data_depth_rgb.tolist(),
'grayscale': frame.data_grayscale.tolist(),
'amplitude': frame.data_amplitude.tolist(),
'h': frame.height,
'w': frame.width
})
await websocket.send(payload)
except Exception as e:
print(e)
elif data['cmd'] == 'set':
if data['param'] == 'range':
Camera.setRange(0, data['value'])
elif data['param'] == 'intTime3D':
camera.setIntegrationTime3d(0, data['value'])
def serverLoop(HTTP_PORT = 8080, WS_PORT = 5678):
attempts = 0
while True:
try:
'''
By default, Camera will connect to the first available ToF device.
Alternatively can specify serial port by using Camera.open('/dev/ttyACM0') to open specific port
'''
camera = Camera.open()
cameraInfo = camera.info()
print("\nToF camera opened successfully:")
print(" model: %s" % cameraInfo.model)
print(" firmware: %s" % cameraInfo.firmware)
print(" uid: %s" % cameraInfo.uid)
print(" resolution: %s" % cameraInfo.resolution)
print(" port: %s" % cameraInfo.port)
## you may simply use camera.setDefaultParameters()
camera.setModulationFrequency(VALUE_20MHZ) ## frequency: 20MHZ
camera.setModulationChannel(0) ## autoChannelEnabled: 0, channel: 0
camera.setMode(0) ## Mode 0, wide fov
camera.setHdr(0) ## HDR off
camera.setIntegrationTime3d(0, 800) ## set integration time 0: 1000
camera.setMinimalAmplitude(0, 10) ## set minimal amplitude 0: 80
camera.setOffset(0) ## set distance offset: 0
camera.setRoi(0, 0, 159, 59) ## set ROI to max width and height
## static
Camera.setColorMode(ColorMode.DISTANCE) ## use distance for point color
Camera.setRange(0, 7500) ## points in the distance range to be colored
break
except Exception as e:
attempts += 1
if attempts > 10:
print("Exiting due to failure to start Tau Camera!")
print("Error: %s" % str(e))
try:
sys.exit(0)
except SystemExit:
os._exit(0)
sleep(5)
sleep(0.1)
ip_address = '127.0.0.1'
print(" IP address: %s" % ip_address)
print(" URL: %s" % 'http://' + ip_address + ':' + str(HTTP_PORT))
print("\nPress Ctrl + C keys to shutdown ...")
_count = 0
start_time = time()
running = True
async def send3DPoints(websocket, path):
global _count
global running
start_time = time()
_count = 0
async for message in websocket:
data = json.loads(message)
if data['cmd'] == 'read':
'''
Camera supports frame type FrameType.DISTANCE, FrameType.DISTANCE_GRAYSCALE and FrameType.DISTANCE_AMPLITUDE,
default FrameType is FrameType.DISTANCE_GRAYSCALE
frame = camera.readFrame(FrameType.DISTANCE_AMPLITUDE)
To get a 3D Frame object directly from calling camera.readFrame() is an expensive call,
alternatively you may call camera.readFrameRawData to get raw data
and possibly to compose Frame from a separate thread
to boost frame rate:
...
from TauLidarCommon.d3 import FrameBuilder
...
frameBuilder = FrameBuilder()
...
dataArray = camera.readFrameRawData(frameType=FrameType.DISTANCE_GRAYSCALE)
Possibly you may compose Frame from a separate thread
frame = frameBuilder.composeFrame(dataArray, frameType=FrameType.DISTANCE_GRAYSCALE)
Default FrameType is FrameType.DISTANCE_GRAYSCALE
Following examples are how to construct depth map, grayscale and amplitude image accordingly:
mat_depth_rgb = np.frombuffer(frame.data_depth_rgb, dtype=np.uint16, count=-1, offset=0).reshape(frame.height, frame.width, 3)
mat_depth_rgb = mat_depth_rgb.astype(np.uint8)
mat_grayscale = np.frombuffer(frame.data_grayscale, dtype=np.uint16, count=-1, offset=0).reshape(frame.height, frame.width)
mat_grayscale = mat_grayscale.astype(np.uint8)
mat_amplitude = np.frombuffer(frame.data_amplitude, dtype=np.float32, count=-1, offset=0).reshape(frame.height, frame.width)
mat_amplitude = mat_amplitude.astype(np.uint8)
'''
frame = camera.readFrame(frameType=FrameType.DISTANCE_AMPLITUDE)
if frame == None:
print('skip frame')
continue
try:
payload = json.dumps({
'points': frame.points_3d,
'depth': frame.data_depth_rgb.tolist(),
'grayscale': frame.data_grayscale.tolist(),
'amplitude': frame.data_amplitude.tolist(),
'h': frame.height,
'w': frame.width
})
await websocket.send(payload)
except Exception as e:
print(e)
elif data['cmd'] == 'set':
if data['param'] == 'range':
Camera.setRange(0, data['value'])
elif data['param'] == 'intTime3D':
camera.setIntegrationTime3d(0, data['value'])
ws_server = websockets.serve(send3DPoints, "127.0.0.1", WS_PORT)
asyncio.get_event_loop().run_until_complete(ws_server)
ws_t = Thread(target=asyncio.get_event_loop().run_forever)
ws_t.deamon = True
ws_t.start()
# change dir to module directory
web_dir = Path(__file__).absolute().parent
os.chdir(web_dir)
# start http server
Handler = SimpleHTTPRequestHandler
Handler.extensions_map.update({
".js": "application/javascript",
})
httpd = socketserver.TCPServer(("", HTTP_PORT), Handler)
try:
httpd.serve_forever()
except KeyboardInterrupt:
running = False
print('\nShutting down ...')
sleep(0.1)
camera.close()
try:
httpd.socket.close()
httpd.server_close()
sys.exit(0)
except SystemExit:
os._exit(0)
