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