X1AutoSetParam

In monocular mode, set an ROI area, automatically adjust some parameters (Exposure2D, Exposure3D, Brightness, Light Contrast) according to the given ROI area, print the adjusted parameters, capture, save the point cloud and 2D image.

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

import time

from numpy.lib.npyio import save
from IPython import embed
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 Camera devices.
    ret, devices = RVC.SystemListDevices(opt)
    print("RVC X Camera devices number:%d" % len(devices))

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

    # Create a RVC X Camera and choose use left side camera.
    x = RVC.X1.Create(devices[0], RVC.CameraID_Left)

    # Test RVC X Camera is valid or not.
    if x.IsValid() == True:
        print("RVC X Camera is valid!")
    else:
        print("RVC X Camera is not valid!")
        RVC.X1.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 ret1 and x.IsOpen() == True:
        print("RVC X Camera is opened!")
    else:
        print("RVC X Camera is not opened!")
        RVC.X1.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.X1_CaptureOptions()
    cap_opt.transform_to_camera = True

    # Set 2d and 3d exposure time. Capture with white light, range [11, 100]ms, others [3, 100]ms.
    exposure_time = 100
    cap_opt.exposure_time_2d = exposure_time
    cap_opt.exposure_time_3d = exposure_time

    cap_opt.filter_range = 0
    cap_opt.phase_filter_range = 0

    cap_opt.projector_brightness = 240
    cap_opt.light_contrast_threshold = 3

    # ROI Setting
    start_x = 10
    start_y = 10
    width = 200
    height = 200

    roi = RVC.ROI(start_x, start_y, width, height)

    # Get auto capture setting.exposure_time_3d,projector_brightness,
    # light_contrast_threshold will be adjusted automatically
    ret2, cap_opt = x.GetAutoCaptureSetting(cap_opt, roi)

    if ret2:
        print("get auto capture setting success!")
        print("auto exposure_time_2d: {} ms".format(cap_opt.exposure_time_2d))
        print("auto exposure_time_3d: {} ms".format(cap_opt.exposure_time_3d))
        print("auto projector_brightness: {}".format(cap_opt.projector_brightness))
        print("auto light_contrast_threshold: {}".format(cap_opt.light_contrast_threshold))
    else:
        print("get auto capture setting failed, custom setting will be used.")
        print(RVC.GetLastErrorMessage())

    # Capture a point map and a image.
    ret3 = x.Capture(cap_opt)

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

    if ret3 == True:
        print("RVC X Camera capture successed!")

        # Get image data and image size.
        img = x.GetImage()
        width = img.GetSize().cols
        height = img.GetSize().rows

        # 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.X1.Destroy(x)
        RVC.SystemShutdown()
        return 1

    # Close RVC X Camera.
    x.Close()

    # Destroy RVC X Camera.
    RVC.X1.Destroy(x)

    # Shutdown RVC X System.
    RVC.SystemShutdown()

    return 0


if __name__ == "__main__":
    App()