X1AutoHdrSetParam

In monocular 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.

# 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()

    # 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 + 1)))

        # 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())
    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.X1.Destroy(x)

    # Shutdown RVC X System.
    RVC.SystemShutdown()

    return 0


if __name__ == "__main__":
    App()