GetBilateralFilteredPointMapX2

Set bilateral filtering parameters (Bilateral Filtering Kernal Size, Bilateral Filtering Depth Sigma, Bilateral Filtering Space Sigma) in binocular mode.

# 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()

    # Choose RVC X Camera type (USB, GigE or All)
    opt = RVC.SystemListDeviceTypeEnum.All

    # Scan all RVC X GigE Camera devices.
    ret, devices = RVC.SystemListDevices(opt)

    #  Find whether any RVC X GigE Camera is connected or not.
    if len(devices) == 0:
        print("Can not find any RVC X Camera!")
        RVC.SystemShutdown()
        return 1

    # Create a RVC X Camera.
    x = RVC.X2.Create(devices[0])

    # Test RVC X Camera is valid or not.
    if x.IsValid() is not True:
        print("RVC X Camera is not valid!")
        RVC.X2.Destroy(x)
        RVC.SystemShutdown()
        return 1
    #PrintCaptureMode(devices[0])

    # Open RVC X Camera.
    ret1 = x.Open()

    # Test RVC X Camera is opened or not.
    if not ret1:
        print("open camera failed!")
        RVC.X2.Destroy(x)
        RVC.SystemShutdown()
        return 1

    # Print ExposureTime Range
    _, exp_range_min, exp_range_max = x.GetExposureTimeRange()
    print("ExposureTime Range:[{}, {}]".format(exp_range_min, exp_range_max))

    cap_opt = RVC.X2_CaptureOptions()
    cap_opt.bilateral_filter_kernal_size = 5
    cap_opt.bilateral_filter_depth_sigma = 2
    cap_opt.bilateral_filter_space_sigma = 10

    # Capture a point map and a image.
    ret2 = x.Capture(cap_opt)

    # Create saving address of image and point map.
    save_address = "Data"
    TryCreateDir(save_address)

    if ret2 == True:
        print("RVC X Camera capture successed!")

        # Get image data and image size.
        img = x.GetImage(RVC.CameraID_Left)

        # Convert image to array and save it.
        img = np.array(img, copy=False)
        cv2.imwrite("Data/test.png", img)
        print("Save image successed!")

        # Save point map (m) to file.
        if x.GetPointMap().Save("Data/test.ply", RVC.PointMapUnitEnum.Meter):
            print("Save point map successed!")
        else:
            print("Save point map failed!")
    else:
        print("RVC X Camera capture failed!")
        print(RVC.GetLastErrorMessage())
        x.Close()
        RVC.X2.Destroy(x)
        RVC.SystemShutdown()
        return 1

    # Close RVC X Camera.
    x.Close()

    # Destroy RVC X Camera.
    RVC.X2.Destroy(x)

    # Shutdown RVC X System.
    RVC.SystemShutdown()

    return 0


if __name__ == "__main__":
    App()