Update a simple example with PYQT to show amplitude

wrappers/python/exampes/AmplitudeImage/ShowDepthNoGUI.py

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+###
+# PointCloud Python Sample : ShowDepthNoGUI.
+#
+# Copyright (c) 2018 PointCloud.AI Inc.
+#
+# Author : Adam.Han
+#
+# Functional description:
+#    Show simple usage with python to get depth information from DepthEye Camera
+# 
+# Exit shortcut keys:
+#     Input [Enter] Key
+###
+
+import sys
+import os
+import cv2
+import numpy as np
+
+# height: 480
+# width: 640
+user_camera_height = 480
+user_camera_width = 640
+user_image = np.ones((user_camera_height, user_camera_width), dtype=np.uint8)  # random.random()方法后面不能加数据类型
+user_depth = np.ones((user_camera_height, user_camera_width), dtype=np.float)  # random.random()方法后面不能加数据类型
+
+
+def user_height_width_to_pixel(height, width):
+    return width + height * user_camera_width
+
+def getDefaultSdkPath():
+    path = ''
+
+    if sys.platform == 'win32':
+      import win32api
+      path = win32api.GetLongPathName(os.path.dirname(os.path.realpath(sys.argv[0]))+"\\..\\..\\..\\..")
+      print('path',path)
+      path = path + os.sep + "libs"+os.sep +"windows"
+      print('path',path)
+    elif sys.platform == 'darwin':
+        path = sys.path[0]+ "/../../../.." + os.sep + "libs"+os.sep +"macos"
+    else :
+        path = sys.path[0]+ "/../../../.." + os.sep + "libs"+os.sep +"ubuntu"
+
+    print('path',path)
+    if os.path.isdir(path):
+      return  path   
+    else:
+      print('Failed to get default PointCloud SDK path')
+      return None
+
+sdkPath = getDefaultSdkPath()
+
+libPath = sdkPath + os.sep + "lib"
+pythonPath = libPath + os.sep + "python3"
+print("pythonPath ",pythonPath)
+sys.path.append(libPath) 
+sys.path.append(pythonPath) 
+
+print("***** SDK path:",sdkPath," libPath:",libPath)
+
+import PointCloud
+# import numpy as np
+
+
+
+def insertToPathVariable(variable, value):
+  if variable not in os.environ:
+    os.environ[variable] = value
+  elif value not in os.environ.get(variable).split(os.pathsep):
+    os.environ[variable] = value + os.pathsep + os.environ[variable]
+
+
+cameraSystem = None
+devices = None
+
+def createWindow():
+    global window
+    if window == None:
+        window = MainWindow(cameraSystem)
+    return
+
+class MainWindow():
+    def __init__(self, temp_cameraSystem, temp_device):
+        self.pic_num = 0
+        self.raw_data_func_callback_flag = 0
+        self.depth_data_func_callback_flag = 0
+        global cameraSystem
+        global devices
+        cameraSystem = temp_cameraSystem
+        devices = temp_device
+        print("MainWindow init")
+        PointCloud.cvar.logger.setDefaultLogLevel(4)
+        self.depthCamera = cameraSystem.connect(devices[0])
+        self.data = {}
+        if self.depthCamera:
+            self.depthCamera.clearAllCallbacks()
+            self.depthCamera.registerCallback(PointCloud.DepthCamera.FRAME_RAW_FRAME_PROCESSED, self.processToFFrame)
+            self.depthCamera.registerCallback(PointCloud.DepthCamera.FRAME_DEPTH_FRAME, self.processDepthFrame)
+            self.depthCamera.registerCallback(PointCloud.DepthCamera.FRAME_XYZI_POINT_CLOUD_FRAME, self.processPointCloudFrame)
+            if not self.depthCamera.start():
+                print(" start fail")
+            else:
+                print(" start ok")
+    def processToFFrame(self, depthCamera, frame, type):
+
+        if frame is None:
+            return
+        print("on new processToFFrame ")
+
+        tofFrame = PointCloud.ToF1608Frame.typeCast(frame)
+        if not tofFrame:
+            return
+
+        size = tofFrame.size
+        self.frameSize = [size.width, size.height]
+        self.phaseArray = np.array(tofFrame._phase, copy=True)
+        self.amplitude = np.array(tofFrame._amplitude, copy=True)
+
+        if self.user_get_raw_data_ok_flag() == 0:
+            print("raw data get")
+            for height in range(0, user_camera_height):
+                for width in range(0, user_camera_width):
+                    user_image[height, width] = self.amplitude[user_height_width_to_pixel(height, width)] / (4096/256)
+                    # print(self.phaseArray[user_height_width_to_pixel(height, width)])
+            self.user_write_raw_data_ok_flag(1)
+        else:
+            pass
+        # cv2.imshow('img', user_image)
+        # cv2.imwrite('test_' + self.pic_num.__str__() + '.png', user_image)  # 写入图片
+        # self.pic_num += 1
+        # print("num: " + self.pic_num.__str__())
+        # cv2.waitKey(0)
+        # cv2.destroyAllWindows()
+        # amb = np.array(tofFrame._ambient)
+        # print("point(x:40,y:30)'s amplitude is %s  ." + amb[40][30])
+
+
+
+    def processDepthFrame(self, depthCamera, frame, type):
+        #frame = self.depthQueue.get(timeout=0.25)
+
+
+        if frame is None:
+            return
+
+        depthFrame = PointCloud.DepthFrame.typeCast(frame)
+
+        if not depthFrame:
+            return
+
+        d = np.array(depthFrame.depth)
+        #d1 = np.transpose(d.reshape((depthFrame.size.height, depthFrame.size.width)))
+        d1 = d.reshape((depthFrame.size.height, depthFrame.size.width))
+        if self.user_get_depth_data_ok_flag() == 0:
+            print("depth data get")
+            for height in range(0, user_camera_height):
+                for width in range(0, user_camera_width):
+                    user_depth[height, width] = float(d1[height][width])
+                    pass
+            self.user_write_depth_data_ok_flag(1)
+            pass
+        else:
+            pass
+        # print("point(x:320,y:240)'s distance is %s  meter." %d1[500][600])
+
+    def processPointCloudFrame(self, depthCamera, frame, type):
+
+        light = 0
+
+        if frame is None:
+            return
+
+        pointCloudFrame = PointCloud.XYZIPointCloudFrame.typeCast(frame)
+
+        if not pointCloudFrame:
+            return
+
+        pcf = np.array(pointCloudFrame, copy=True)
+        # for height in range(0, user_camera_height):
+        #     for width in range(0, user_camera_width):
+        #         point = pointCloudFrame.points[user_height_width_to_pixel(height, width)]
+        #         if "nan" in point.i.__str__():
+        #             light = 0
+        #         else:
+        #             light = float(point.i.__str__()) * 1000
+        #         if light > 255:
+        #             light = 255
+                # user_image[height, width] = light
+
+        # Set integration time
+        # r0, intg_time = depthCamera.setu("intg_time", 14)
+        # print(" ||| Set integration time result: %s" % r0)
+        #
+        # r0, intg_time = depthCamera.getu("intg_time")
+        # print(" ||| integration time : %s %% " % intg_time)
+        # cv2.imshow('img', user_image)
+        # cv2.waitKey(0)
+        # print("pointCloudFrame.size:  %s" %pointCloudFrame.size())
+
+        ###  point.i is intensity, which come from amplitude
+        ###  point.z is distance, which come from depth
+
+        # for index in range(pointCloudFrame.size()):
+        #     point = pointCloudFrame.points[index]
+        #     print("current point : index %s  [ x : %s , y: %s ,z : %s ,i : %s]" %(index, point.x,point.y,point.z,point.i))
+
+    def user_get_raw_data_ok_flag(self):
+        return self.raw_data_func_callback_flag
+
+    def user_write_raw_data_ok_flag(self, flag):
+        self.raw_data_func_callback_flag = flag
+
+    def user_get_depth_data_ok_flag(self):
+        return self.depth_data_func_callback_flag
+
+    def user_write_depth_data_ok_flag(self, flag):
+        self.depth_data_func_callback_flag = flag
+
+    def user_get_height_pixle(self):
+        return user_camera_height
+
+    def user_get_width_pixle(self):
+        return user_camera_width
+
+    def stop(self):
+        if self.depthCamera:
+            print("depthCamera getrefcount 1:  " ,sys.getrefcount(self.depthCamera))
+            self.depthCamera.stop()
+            self.depthCamera.clearAllCallbacks()
+            print("depthCamera getrefcount 2: " ,sys.getrefcount(self.depthCamera))
+            print(" before   cameraSystem. disconnect")
+            self.cameraSystem.disconnect(self.depthCamera, True)
+            print(" after   cameraSystem. disconnect")
+            print("depthCamera getrefcount 3: " ,sys.getrefcount(self.depthCamera))
+            del self.depthCamera
+            print(" after   del self.depthCamera")
+            # print("depthCamera getrefcount 4: " ,sys.getrefcount(self.depthCamera))
+
+            self.depthCamera = None
+            print(" after   self.depthCamera is None")
+            # print("depthCamera getrefcount 5: " ,sys.getrefcount(self.depthCamera))
+
+
+

wrappers/python/exampes/AmplitudeImage/graph.py

@@ -0,0 +1,16 @@
+from PyQt5 import QtWidgets, QtCore, QtGui
+import pyqtgraph as pg
+import sys
+import traceback
+
+import sys
+from PyQt5.QtWidgets import QApplication, QMainWindow
+import user_process
+
+if __name__ == '__main__':
+    app = QApplication(sys.argv)
+    MainWindow = QMainWindow()
+    ui = user_process.user_operation(MainWindow)
+    MainWindow.show()
+    sys.exit(app.exec_())
+

wrappers/python/exampes/AmplitudeImage/main_window.py

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+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'main_window.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.2
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+
+class Ui_MainWindow(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.setWindowModality(QtCore.Qt.NonModal)
+        MainWindow.resize(832, 622)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.gridLayoutWidget = QtWidgets.QWidget(self.centralwidget)
+        self.gridLayoutWidget.setGeometry(QtCore.QRect(20, 10, 761, 521))
+        self.gridLayoutWidget.setObjectName("gridLayoutWidget")
+        self.grid_graph = QtWidgets.QGridLayout(self.gridLayoutWidget)
+        self.grid_graph.setContentsMargins(0, 0, 0, 0)
+        self.grid_graph.setObjectName("grid_graph")
+        # self.btn_save_image = QtWidgets.QPushButton(self.centralwidget)
+        # self.btn_save_image.setGeometry(QtCore.QRect(550, 540, 75, 23))
+        # self.btn_save_image.setObjectName("btn_save_image")
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 832, 22))
+        self.menubar.setObjectName("menubar")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "TOF"))
+        # self.btn_save_image.setText(_translate("MainWindow", "保存"))

wrappers/python/exampes/AmplitudeImage/run.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+export POINTCLOUD_SDK_PATH="./../../../../libs/macos"
+export DYLD_LIBRARY_PATH="$DYLD_LIBRARY_PATH:$POINTCLOUD_SDK_PATH/lib"
+export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$POINTCLOUD_SDK_PATH/lib"
+export PYTHONPATH=$POINTCLOUD_SDK_PATH/lib/python3:$PYTHONPATH
+echo "$PYTHONPATH"
+python3 graph.py