X2AutoHdrSetParam

In binocular mode, set an ROI area, automatically adjust the HDR parameters (HDR Extra Times and 3D exposure time for each exposure) according to the given ROI area, print the adjusted parameters, capture, save the point cloud and 2D image acquired by the left camera.

import PyRVC as RVC
import numpy as np
import cv2
import os
from Utils.Tools import *

if __name__ == "__main__":
    # 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:", 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()
        exit(1)

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

    # Test RVC X Camera is valid or not
    if x.IsValid() == False:
        print("RVC X Camera is not valid!")
        RVC.X2.Destroy(x)
        RVC.SystemShutdown()
        exit(1)

    #PrintCaptureMode(devices[0])

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

    # Test RVC X Camera is opened or not
    if x.IsOpen() == False:
        print("RVC X Camera is not opened!")
        RVC.X2.Destroy(x)
        RVC.SystemShutdown()
        exit(1)

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

    # Set capture parameters
    cap_opt = RVC.X2_CaptureOptions()

    # ROI Setting
    roi = RVC.ROI(10, 10, 200, 200)

    # get hdr exposure parameters.
    ret2, cap_opt = x.GetAutoHdrCaptureSetting(cap_opt, roi)
    if ret2:
        print(f"projector_brightness: {cap_opt.projector_brightness}")
        if cap_opt.hdr_exposure_times == 0:
            print("hdr exposure setting will not be used")
            print("exposure_time_3d: {}".format(cap_opt.exposure_time_3d))
        else:
            print("hdr_exposure_times: {}".format(cap_opt.hdr_exposure_times))
            for i in range(cap_opt.hdr_exposure_times):
                print("hdr exposure index: {} exposure time: {}".format(
                    i + 1, cap_opt.GetHDRExposureTimeContent(i)))

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

        # Create saving address of image and point map.
        save_dir = "Data"
        if not os.path.exists(save_dir):
            os.makedirs(save_dir)

        if ret3 == True:
            # Get image data. choose left or right side. the point map is map to left image.
            img = x.GetImage(RVC.CameraID_Left)

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

            # Save point map (m) to file.
            if x.GetPointMap().Save("{}/test.ply".format(save_dir), RVC.PointMapUnitEnum.Meter):
                print("Save point map successed!")
            else:
                print("Save point map failed!")
        else:
            print("RVC X Camera capture failed!")
            print(RVC.GetLastErrorMessage())
    else:
        print("get auto capture setting failed, custom setting will be used.")
        print(RVC.GetLastErrorMessage())

    # Close RVC X Camera
    x.Close()

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

    # Shut Down RVC X System
    RVC.SystemShutdown()