def main():
res = ncc.load_fw("./moviUsbBoot", "fw/flicRefApp.mvcmd")
if res < 0:
printf('load firmware error!')
sys.exit(1)
print("get usb %d sdk versin %s" %
(ncc.get_usb_version(), ncc.get_sdk_version()))
print("get fw version: %s and ncc id %s" %
(ncc.camera_get_fw_version(), ncc.camera_get_ncc_id()))
sensors = ncc.CameraSensor()
sensor1 = ncc.SensorModesConfig()
if sensors.GetFirstSensor(sensor1) == 0:
print(
"camera: %s, %dX%d@%dfps, AFmode:%d, maxEXP:%dus,gain[%d, %d]\n" %
(sensor1.moduleName, sensor1.camWidth, sensor1.camHeight,
sensor1.camFps, sensor1.AFmode, sensor1.maxEXP, sensor1.minGain,
sensor1.maxGain))
sensor2 = ncc.SensorModesConfig()
while sensors.GetNextSensor(sensor2) == 0:
print(
"camera: %s, %dX%d@%dfps, AFmode:%d, maxEXP:%dus,gain[%d, %d]\n" %
(sensor2.moduleName, sensor2.camWidth, sensor2.camHeight,
sensor2.camFps, sensor2.AFmode, sensor2.maxEXP, sensor2.minGain,
sensor2.maxGain))
ncc.camera_select_sensor(0) #0 1080p 1 4k
cameraCfg = sensor1
cam_info = ncc.CameraInfo()
cam_info.inputFormat = ncc.IMG_FORMAT_BGR_PLANAR
#cam_info.meanValue = [float(0.0)]*3
cam_info.stdValue = 1
cam_info.isOutputYUV = 1
cam_info.isOutputH26X = 1
cam_info.isOutputJPEG = 1
cam_info.imageWidth = cameraCfg.camWidth
cam_info.imageHeight = cameraCfg.camHeight
cam_info.startX = 0
cam_info.startY = 0
cam_info.endX = cameraCfg.camWidth
cam_info.endY = cameraCfg.camHeight
cam_info.inputDimWidth = 0
cam_info.inputDimHeight = 0
ncc.SetMeanValue(cam_info, 0.0, 0.0, 0.0)
ret = ncc.sdk_init(
None, None,
"./blob/2020.3/face-detection-retail-0004/face-detection-retail-0004.blob",
cam_info, struct.calcsize("13I4f")) #struct CameraInfo
metasize = ncc.get_meta_size()
print("xlink_init ret=%d %d" % (ret, metasize))
if (ret < 0):
return
oft_x = cam_info.startX
oft_y = cam_info.startY
dis_w = cam_info.endX - cam_info.startX
dis_h = cam_info.endY - cam_info.startY
offset = struct.calcsize(media_head)
size = cameraCfg.camWidth * cameraCfg.camHeight * 2
yuvbuf = bytearray(size + offset)
metabuf = bytearray(metasize + offset)
ncc.camera_video_out(ncc.YUV420p, ncc.VIDEO_OUT_CONTINUOUS)
while (True):
size = ncc.GetYuvData(yuvbuf)
if (size <= 0):
time.sleep(0.1) #0.1 second
continue
numarry = np.array(
yuvbuf[offset:size]) #skip head frameSpecOut 64 bytes
#print("buf len=%d/%d" % (numarry.size,size))
yuv = numarry.reshape(
(int(cameraCfg.camHeight * 3 / 2), cameraCfg.camWidth))
bgr = cv2.cvtColor(yuv, cv2.COLOR_YUV2BGR_I420, 3)
size = ncc.GetMetaData(metabuf)
if (size > 0):
#spec=metabuf[0:offset]
#print(spec)
#type,seq,size=get_header_info(metabuf[0:offset])
#print("meta type=%d seq=%d size=%d" % (type,seq,size))
barray = metabuf[offset + ncc.OUTPUT_INDEX_SIZE:size]
#print("meta len=%d/%d" % (len(barray),size))
#print_hex(barray[0:14])
count = len(barray) // 2
sarry = struct.unpack('H' * count, barray)
#print(sarry[0:7])
for i in range(100):
image_id = ncc.f16Tof32(sarry[i * 7 + 0])
#print("face id %d" % image_id)
if (image_id < 0):
break
score = ncc.f16Tof32(sarry[i * 7 + 2])
x0 = ncc.f16Tof32(sarry[i * 7 + 3])
y0 = ncc.f16Tof32(sarry[i * 7 + 4])
x1 = ncc.f16Tof32(sarry[i * 7 + 5])
y1 = ncc.f16Tof32(sarry[i * 7 + 6])
#print("score:%.2f<->min:%.2f rec:(%.3f,%.3f)<->(%.3f,%.3f) " %(score,min_score,x0,y0,x1,y1))
if ((not coordinate_is_valid(x0, y0, x1, y1))
or (score < min_score)):
continue
x = int(x0 * dis_w + oft_x)
y = int(y0 * dis_h + oft_y)
w = int((x1 - x0) * dis_w)
h = int((y1 - y0) * dis_h)
cv2.rectangle(bgr, (x, y), (x + w, y + h), (0, 255, 0), 2)
result = ("score:%d") % (int(100 * score))
#print("%d,%d[%dx%d] score:%s" %(x,y,w,h,result))
cv2.putText(bgr, result, (x, y + 32), cv2.FONT_HERSHEY_COMPLEX,
1, (255, 0, 0), 1)
img_scaled = cv2.resize(bgr,
None,
fx=0.7,
fy=0.7,
interpolation=cv2.INTER_CUBIC)
cv2.namedWindow('openncc', cv2.WINDOW_AUTOSIZE)
cv2.imshow('openncc', img_scaled)
if (cv2.waitKey(20) == 27): break
ncc.sdk_uninit()
cv2.destroyAllWindows()
def main():
res = ncc.load_fw("./moviUsbBoot", "fw/flicRefApp.mvcmd")
if res < 0:
printf('load firmware error!')
sys.exit(1)
print("get usb %d sdk versin %s" %
(ncc.get_usb_version(), ncc.get_sdk_version()))
sensors = ncc.CameraSensor()
sensor1 = ncc.SensorModesConfig()
if sensors.GetFirstSensor(sensor1) == 0:
print(
"camera: %s, %dX%d@%dfps, AFmode:%d, maxEXP:%dus,gain[%d, %d]\n" %
(sensor1.moduleName, sensor1.camWidth, sensor1.camHeight,
sensor1.camFps, sensor1.AFmode, sensor1.maxEXP, sensor1.minGain,
sensor1.maxGain))
sensor2 = ncc.SensorModesConfig()
while sensors.GetNextSensor(sensor2) == 0:
print(
"camera: %s, %dX%d@%dfps, AFmode:%d, maxEXP:%dus,gain[%d, %d]\n" %
(sensor2.moduleName, sensor2.camWidth, sensor2.camHeight,
sensor2.camFps, sensor2.AFmode, sensor2.maxEXP, sensor2.minGain,
sensor2.maxGain))
ncc.camera_select_sensor(0) #0 1080p 1 4k
cameraCfg = sensor1
cam_info = ncc.CameraInfo()
cam_info.inputFormat = ncc.IMG_FORMAT_BGR_PLANAR
#cam_info.meanValue = [float(0.0)]*3
cam_info.stdValue = 1
cam_info.isOutputYUV = 1
cam_info.isOutputH26X = 1
cam_info.isOutputJPEG = 1
cam_info.imageWidth = cameraCfg.camWidth
cam_info.imageHeight = cameraCfg.camHeight
cam_info.startX = 0
cam_info.startY = 0
cam_info.endX = cameraCfg.camWidth
cam_info.endY = cameraCfg.camHeight
cam_info.inputDimWidth = 0
cam_info.inputDimHeight = 0
ncc.SetMeanValue(cam_info, 0.0, 0.0, 0.0)
ret = ncc.sdk_init(
None, None,
"./blob/2020.3/human-pose-estimation-0001/human-pose-estimation-0001.blob",
cam_info, 0) #struct CameraInfo,0 will auto cal
#metasize=ncc.get_meta_size()#only support one module now
#print("xlink_init ret=%d %d" % (ret,metasize))
#if (ret<0):
# return
oft_x = cam_info.startX
oft_y = cam_info.startY
dis_w = cam_info.endX - cam_info.startX
dis_h = cam_info.endY - cam_info.startY
offset = struct.calcsize(media_head)
size = cameraCfg.camWidth * cameraCfg.camHeight * 2
yuvbuf = bytearray(size + offset)
metabuf = bytearray(300 * 1024)
ncc.camera_video_out(ncc.YUV420p, ncc.VIDEO_OUT_CONTINUOUS)
while (True):
size = ncc.GetYuvData(yuvbuf)
if (size <= 0):
time.sleep(0.1) #0.1 second
continue
numarry = np.array(
yuvbuf[offset:size]) #skip head frameSpecOut 64 bytes
#print("buf len=%d/%d" % (numarry.size,size))
yuv = numarry.reshape(
(int(cameraCfg.camHeight * 3 / 2), cameraCfg.camWidth))
size = ncc.GetMetaData(metabuf)
if (size > 0):
#spec=metabuf[0:offset]
#print(spec)
#type,seq,size=get_header_info(metabuf[0:offset])
#print("meta type=%d seq=%d size=%d" % (type,seq,size))
barray = metabuf[offset + ncc.OUTPUT_INDEX_SIZE:size]
print("meta len=%d/%d" % (len(barray), size))
#print_hex(barray[0:14])
count = len(barray) // 2
sarry = struct.unpack('H' * count, barray)
#print(sarry[0:7])
farry = array('f')
for i in range(count):
farry.append(ncc.f16Tof32(
sarry[i])) #get all float data from output
dim_paf = [1, 38, 32, 57]
dim_heat = [1, 19, 32, 57]
paf_len = dim_paf[0] * dim_paf[1] * dim_paf[2] * dim_paf[3]
print("farry len=%d paf_len =%d" % (len(farry), paf_len))
pafs_arry = np.array(farry[0:paf_len])
heat_arry = np.array(farry[paf_len:])
print("pafs array len=%d heat array len=%d" %
(pafs_arry.size, heat_arry.size))
pafs_blob = pafs_arry.reshape(dim_paf)
print("pafs_blob:")
print(pafs_blob)
heat_blob = heat_arry.reshape(dim_heat)
print("heat_blob:")
print(heat_blob)
ncc.sdk_uninit()