X1AutoHdrSetParam

单目模式下设置 ROI 区域，根据给定的 ROI 区域自动调整 HDR 参数（HDR 额外曝光次数及每次 3D 曝光时间），打印调整后的参数，采集并保存点云与 2D 图。

# 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()