MYNT-EYE-S-SDK/wrappers/python/samples/mynteye.py

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2018-05-17 19:16:04 +03:00
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright 2018 Slightech Co., Ltd. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# pylint: disable=missing-docstring
from __future__ import print_function
import os
import sys
PY_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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LIB_DIR = os.path.join(PY_DIR, '_install/lib')
for root, dirs, files in os.walk(LIB_DIR):
if files:
sys.path.append(root)
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# pylint: disable=import-error,wrong-import-position
import mynteye_py as mynteye
# glog_init = mynteye.glog_init.create(sys.argv)
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def main():
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# api = mynteye.API.create() # should glog_init
api = mynteye.API.create(sys.argv)
if not api:
sys.exit(1)
# model
print('model: {}'.format(api.model))
# supports
supports_types = (
mynteye.Stream,
mynteye.Capabilities,
mynteye.Option,
mynteye.AddOns)
for x in supports_types:
print('\nsupports({})'.format(x.__name__))
for k, v in x.names.iteritems():
print(' supports({}): {}'.format(k, api.supports(v)))
# get_stream_requests
for k, v in mynteye.Capabilities.names.iteritems():
if v != mynteye.STEREO:
continue
if not api.supports(v):
continue
print('\nget_stream_requests({})'.format(k))
for req in api.get_stream_requests(v):
print(' {}'.format(req))
# config_stream_request
# print('\nconfig_stream_request({},?)'.format(mynteye.STEREO))
# api.config_stream_request(mynteye.STEREO, req)
# print(' {}'.format(req))
# get_info
print()
for k, v in mynteye.Info.names.iteritems():
print('get_info({}): {}'.format(k, api.get_info(v)))
# get_intrinsics
print('\nget_intrinsics(LEFT)\n{}'.format(api.get_intrinsics(mynteye.LEFT)))
print('\nget_intrinsics(RIGHT)\n{}'.format(api.get_intrinsics(mynteye.RIGHT)))
# get_extrinsics
print('\nget_extrinsics(LEFT, RIGHT)\n{}'.format(
api.get_extrinsics(mynteye.LEFT, mynteye.RIGHT)))
# get_motion_intrinsics
print('\nget_motion_intrinsics()\n{}'.format(api.get_motion_intrinsics()))
# get_motion_extrinsics
print('\nget_motion_extrinsics(LEFT)\n{}'.format(
api.get_motion_extrinsics(mynteye.LEFT)))
# api.log_option_infos()
# get_option_info, get_option_value
print()
for k, v in mynteye.Option.names.iteritems():
if v == mynteye.ZERO_DRIFT_CALIBRATION or v == mynteye.ERASE_CHIP:
continue
if not api.supports(v):
continue
print('get_option_info({}): {}, cur: {}'.format(
k, api.get_option_info(v), api.get_option_value(v)))
# set_option_value
def set_rate(frame_rate=25, imu_frequency=500): # pylint: disable=unused-variable
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# FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
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api.set_option_value(mynteye.FRAME_RATE, frame_rate)
# IMU_FREQUENCY values: 100, 200, 250, 333, 500
api.set_option_value(mynteye.IMU_FREQUENCY, imu_frequency)
def set_ir(intensity=80): # pylint: disable=unused-variable
# set infrared intensity value: range [0,48], default 160
api.set_option_value(mynteye.IR_CONTROL, intensity)
def set_auto_exposure( # pylint: disable=unused-variable
max_gain=48, # pylint: disable=bad-continuation
max_exposure_time=240, # pylint: disable=bad-continuation
desired_brightness=192): # pylint: disable=bad-continuation
# auto-exposure: 0
api.set_option_value(mynteye.EXPOSURE_MODE, 0)
# max_gain: range [0,48], default 48
api.set_option_value(mynteye.MAX_GAIN, max_gain)
# max_exposure_time: range [0,240], default 240
api.set_option_value(mynteye.MAX_EXPOSURE_TIME, max_exposure_time)
# desired_brightness: range [0,255], default 192
api.set_option_value(mynteye.DESIRED_BRIGHTNESS, desired_brightness)
def set_manual_exposure(gain=24, brightness=120, contrast=127): # pylint: disable=unused-variable
# manual-exposure: 1
api.set_option_value(mynteye.EXPOSURE_MODE, 1)
# gain: range [0,48], default 24
api.set_option_value(mynteye.GAIN, gain)
# brightness/exposure_time: range [0,240], default 120
api.set_option_value(mynteye.BRIGHTNESS, brightness)
# contrast/black_level_calibration: range [0,255], default 127
api.set_option_value(mynteye.CONTRAST, contrast)
# set_rate(25, 500);
# set_ir(80);
# set_auto_exposure(48, 240, 192);
# set_manual_exposure(24, 120, 127);
# run_option_action
# api.run_option_action(mynteye.ZERO_DRIFT_CALIBRATION)
##############################################################################
# get stream and motion datas
import cv2
import numpy as np
from util.cv_painter import Gravity, draw_text
# api.enable_stream_data(mynteye.DISPARITY_NORMALIZED);
api.enable_motion_datas()
api.start(mynteye.ALL)
# cv2.namedWindow('frame')
# cv2.namedWindow('disparity')
fps = 0.
while True:
t = cv2.getTickCount()
api.wait_for_streams()
left_data = api.get_stream_data(mynteye.LEFT)
right_data = api.get_stream_data(mynteye.RIGHT)
motion_datas = api.get_motion_datas()
img = np.hstack((left_data.frame, right_data.frame))
draw_text(img, '{1}x{0}'.format(*img.shape), Gravity.TOP_LEFT)
draw_text(img, '{:.1f}'.format(fps), Gravity.TOP_RIGHT)
if motion_datas:
imu = motion_datas[0].imu
draw_text(img,
'accel: {:+8f}, {:+8f}, {:+8f}'.format(*imu.accel),
Gravity.BOTTOM_LEFT)
draw_text(img,
'gyro: {:+8f}, {:+8f}, {:+8f}'.format(*imu.gyro),
Gravity.BOTTOM_RIGHT)
cv2.imshow('frame', img)
# disp_data = api.get_stream_data(mynteye.DISPARITY_NORMALIZED);
# if disp_data.frame is not None:
# cv2.imshow('disparity', disp_data.frame);
t = cv2.getTickCount() - t
fps = cv2.getTickFrequency() / t
key = cv2.waitKey(10) & 0xFF
if key == 27 or key == ord('q'): # esc, q
break
api.stop(mynteye.ALL)
cv2.destroyAllWindows()
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if __name__ == '__main__':
main()