CaptureOptionsX1

Print capture parameters in monocular mode, the four ways of passing parameters are described, and the in-scanner parameters are called for capturing.

# Copyright (c) RVBUST, Inc - All rights reserved.
import PyRVC as RVC
import os
import numpy as np
import cv2
from Utils.Tools import *


def App():
    # Initialize RVC X system.
    RVC.SystemInit()

    # Find Device
    ret, devices = RVC.SystemListDevices(RVC.SystemListDeviceTypeEnum.All)
    if len(devices) == 0:
        print("Can not find any Device!")
        RVC.SystemShutdown()
        return -1
    device = devices[0]

    ret, info = device.GetDeviceInfo()
    print(info.name + "-" + info.sn)

    # Create and Open
    x1 = RVC.X1.Create(device, RVC.CameraID_Left)
    ret = x1.Open()
    if ret and x1.IsValid():
        print("RVC X Camera is valid!")
    else:
        print("RVC X Camera is not valid!")
        RVC.X1.Destroy(x1)
        RVC.SystemShutdown()
        return -1
    #PrintCaptureMode(devices[0])
    # Print ExposureTime Range
    _, exp_range_min, exp_range_max = x1.GetExposureTimeRange()
    print("ExposureTime Range:[{}, {}]".format(exp_range_min, exp_range_max))


    # Modify Capture Options and Capture
    options = RVC.X1_CaptureOptions()
    ret = False

    # Print Capture Options
    print("打印拍摄参数")

    str_capture_mode = ""
    if options.capture_mode == RVC.CaptureMode_Fast:
        str_capture_mode = "快速模式"
    elif options.capture_mode == RVC.CaptureMode_Normal:
        str_capture_mode = "标准模式"
    elif options.capture_mode == RVC.CaptureMode_Robust:
        str_capture_mode = "抗干扰模式"
    elif options.capture_mode == RVC.CaptureMode_Ultra:
        str_capture_mode = "高精度模式"
    elif options.capture_mode == RVC.CaptureMode_AntiInterReflection:
        str_capture_mode = "抗多次反射模式"

    print("拍摄模式--[capture_mode] = " + str_capture_mode)

    print("2D 曝光时间--[exposure_time_2d] = " + str(options.exposure_time_2d))
    print("2D 增益--[gain_2d] = " + str(options.gain_2d))
    print("2D Gamma--[gamma_2d] = " + str(options.gamma_2d))
    print("2D 拍摄是否使用光机--[use_projector_capturing_2d_image] = " + str(options.use_projector_capturing_2d_image))
    print("3D 曝光时间--[exposure_time_3d] = " + str(options.exposure_time_3d))
    print("3D 增益--[gain_3d] = " + str(options.gain_3d))
    print("3D Gamma--[gamma_3d] = " + str(options.gamma_3d))
    print("光强对比度阈值--[light_contrast_threshold] = " + str(options.light_contrast_threshold))
    print("投影亮度--[projector_brightness] = " + str(options.projector_brightness))

    print("HDR 次数--[hdr_exposure_times] = " + str(options.hdr_exposure_times))
    print("HDR 曝光(0,1,2)--[hdr_exposuretime_content_0] = " + str(options.GetHDRExposureTimeContent(0)))
    print("HDR 曝光(0,1,2)--[hdr_exposuretime_content_1] = " + str(options.GetHDRExposureTimeContent(1)))
    print("HDR 曝光(0,1,2)--[hdr_exposuretime_content_2] = " + str(options.GetHDRExposureTimeContent(2)))

    print("HDR 增益(0,1,2)--[hdr_hdr_gain_3d_0] = " + str(options.GetHDRGainContent(0)))
    print("HDR 增益(0,1,2)--[hdr_hdr_gain_3d_1] = " + str(options.GetHDRGainContent(1)))
    print("HDR 增益(0,1,2)--[hdr_hdr_gain_3d_2] = " + str(options.GetHDRGainContent(2)))

    print("HDR 扫描次数(0,1,2)--[hdr_scan_times_0] = " + str(options.GetHDRScanTimesContent(0)))
    print("HDR 扫描次数(0,1,2)--[hdr_scan_times_1] = " + str(options.GetHDRScanTimesContent(1)))
    print("HDR 扫描次数(0,1,2)--[hdr_scan_times_2] = " + str(options.GetHDRScanTimesContent(2)))

    print("HDR 投影亮度(0,1,2)--[hdr_projector_brightness_0] = " + str(options.GetHDRProjectorBrightnessContent(0)))
    print("HDR 投影亮度(0,1,2)--[hdr_projector_brightness_1] = " + str(options.GetHDRProjectorBrightnessContent(1)))
    print("HDR 投影亮度(0,1,2)--[hdr_projector_brightness_2] = " + str(options.GetHDRProjectorBrightnessContent(2)))

    print("置信度去噪阈值--[confidence_threshold] =" + str(options.confidence_threshold))
    print("聚类降噪距离阈值--[noise_removal_distance] =" + str(options.noise_removal_distance))
    print("聚类降噪有效点数阈值--[noise_removal_point_number] =" + str(options.noise_removal_point_number))
    str_smoothness = ""
    if options.smoothness == RVC.SmoothnessLevel_Off:
        str_smoothness = "关"
    elif options.smoothness == RVC.SmoothnessLevel_Weak:
        str_smoothness = "弱"
    elif options.smoothness == RVC.SmoothnessLevel_Normal:
        str_smoothness = "中"
    elif options.smoothness == RVC.SmoothnessLevel_Strong:
        str_smoothness = "强"
    print("平滑等级--[smoothness] =" + str(options.smoothness))
    print("下采样距离(m)--[downsample_distance] =" + str(options.downsample_distance))
    print("是否计算法向量--[calc_normal] =" + str(options.calc_normal))
    print("计算法向量距离--[calc_normal_radius] =" + str(options.calc_normal_radius))

    print("ROI(x,y,w,h)--[roi_x] =" + str(options.roi.x))
    print("ROI(x,y,w,h)--[roi_y] =" + str(options.roi.y))
    print("ROI(x,y,w,h)--[roi_w] =" + str(options.roi.width))
    print("ROI(x,y,w,h)--[roi_h] =" + str(options.roi.height))

    # G系列相机，扫描次数
    print("扫描次数[G系列相机]--[scan_times] =" + str(options.scan_times))

    # 新增算法参数，双边滤波
    print("z向截断最小值--[truncate_z_min] =" + str(options.truncate_z_min))
    print("z向截断最大值--[truncate_z_max] =" + str(options.truncate_z_max))
    print("双边滤波窗口大小--[bilateral_filter_kernal_size] =" + str(options.bilateral_filter_kernal_size))
    print("双边滤波深度分布--[bilateral_filter_depth_sigma] =" + str(options.bilateral_filter_depth_sigma))
    print("双边滤波空间分布--[bilateral_filter_space_sigma] =" + str(options.bilateral_filter_space_sigma))
    print("是否使用自动聚类去噪--[use_auto_noise_removal] =" + str(options.use_auto_noise_removal))

    # Method 1, use default options and modify options
    # options = RVC.X1_CaptureOptions()
    # todo:modify options
    # ret = x1.Capture(options)

    # Method 2, load Options From Camera and modify options
    # ret,options = x1.LoadCaptureOptionParameters()
    # todo:modify options
    # ret = x1.Capture(options)

    # *********
    # Method 3, use the internal parameters of the camera.
    # We suggest adjusting the camera parameters By RVC Manager.
    # Then, when we use SDK, we directly use the parameters inside the camera.
    ret = x1.Capture()

    # Method 4 , Load Options From File and Capture.
    # If you need to capture multiple scenes, their parameters are different.
    # You can save these parameters as different configuration files  By RVC Manager and then import the files before capture.
    # ret = x1.LoadSettingFromFile("file.json")
    # ret = x1.Capture()

    if ret:
        print("RVC X Camera capture successed!")
    else:
        print("RVC X Camera capture failed!")
        print(RVC.GetLastErrorMessage())
        x1.Close()
        RVC.X1.Destroy(x1)
        RVC.SystemShutdown()
        return -1

    # Data Process
    save_address = "Data"
    TryCreateDir(save_address)
    save_address += "/" + info.sn
    TryCreateDir(save_address)
    save_address += "/x1"
    TryCreateDir(save_address)

    img = x1.GetImage()
    pm = x1.GetPointMap()

    pm.Save(save_address + "/pointmap.ply", RVC.PointMapUnitEnum.Millimeter, True)
    pm.SaveWithImage(save_address + "/pointmap_color.ply", img, RVC.PointMapUnitEnum.Millimeter, True)
    img.SaveImage(save_address + "/image.png")

    # numpy extension
    img_np = np.array(img, copy=False)
    pm_np = np.array(pm, copy=False).reshape(-1, 3)
    size = img_np.size

    # Release
    x1.Close()
    RVC.X1.Destroy(x1)
    RVC.SystemShutdown()

    return 0


if __name__ == "__main__":
    App()