图漾深度相机多语言接口封装库
目前支持情况：
| platform | language | status |
|---|---|---|
| windows | python | ok |
| windows | C# .net fx4.0 | ok |
| liunx | python | ok |
| linux | C# mono | 未测试 |
| linux | java | TODO |
采用SWIG对原厂sdk的C语言库封装，生成各语言对应接口 接口操作尽量保持与原API一致。
已测试环境：
- win10 + python3.6 + vs2019 + swig4.0.0
- win10 + c# .net4.0 + vs2019 + swig4.0.0
- ubuntu16 + python2.7 + swig4.0.0
目前版本对应原Camport3 v3.3.1版本
预编译版本包含库： windows python3 + c# .net4.0 linux x64 python2 https://github.com/alphaliang/pcammls/releases
依赖库&工具：
http://www.swig.org/ swig
https://cmake.org/ cmake3.15+
https://github.com/percipioxyz/camport3 camport3
需先配置 cmake 变量 CAMPORT_DIR 指向 camport3 sdk所在位置
配置CAMPORT_ARCH（或留空）以设置对应lib进行跨平台编译
代码片段：
def main():
TYInitLib()
iface_id,dev_sn = select_device()
iface_handle = TYOpenInterface(iface_id)
dev_handle = TYOpenDevice(iface_handle,dev_sn)
fetch_frame_loop(dev_handle)
TYCloseDevice(dev_handle)
TYCloseInterface(iface_handle)
TYDeinitLib()
def fetch_frame_loop(handle):
TYEnableComponents(handle,TY_COMPONENT_DEPTH_CAM)
sz = TYGetFrameBufferSize(handle)
buffs=[char_ARRAY(sz),char_ARRAY(sz)]
TYEnqueueBuffer(handle,buffs[0],sz)
TYEnqueueBuffer(handle,buffs[1],sz)
TYStartCapture(handle)
while True:
frame = TY_FRAME_DATA()
try:
TYFetchFrame(handle,frame.this,2000)
images = frame.image
for img in images:
if not img.buffer:
continue
arr = img.as_nparray()
if img.componentID == TY_COMPONENT_DEPTH_CAM:
depthu8 = cv2.convertScaleAbs(arr, alpha=(255.0/4000.0))
cv2.imshow('depth',depthu8)
cv2.waitKey(10)
TYEnqueueBuffer(handle,frame.userBuffer,frame.bufferSize)
except Exception as err:
print (err)
TYStopCapture(handle)其他常见调用参考 test.py 和 fetch_frame.py 文件
- 原返回状态值封装为python异常
- TYGetXX 类型api改用返回值获取值
- 图像可输出为numpy array
代码片段：
static void Main(string[] args)
{
try {
SDK.TYInitLib();
TY_VERSION_INFO info = new TY_VERSION_INFO();
SDK.TYLibVersion(info);
Console.WriteLine(string.Format("LIB VERSION :{0} {1} {2}", info.major, info.minor, info.patch));
var dev_info = SimpleDeviceSelect();
IntPtr dev_handle = new IntPtr();
IntPtr iface_handle = new IntPtr();
SDK.TYOpenInterface(dev_info.iface.id, ref iface_handle);
SDK.TYOpenDevice(iface_handle, dev_info.id, ref dev_handle);
FetchFrameLoop(dev_handle);
SDK.TYCloseDevice(dev_handle);
SDK.TYCloseInterface(iface_handle);
}
catch (System.ComponentModel.Win32Exception ex) {
Console.WriteLine(ex.Message);
}
finally {
SDK.TYDeinitLib();
}
}其他常见调用参考test.cs 和frame_fetch.cs文件
- 原返回状态值封装为异常
- 原指针操作转换为 c# 输出参数
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