samples: update mecheye_python_samples to SDK 2.0.2

MechMindRobotics · Feb 17, 2023 · c14d944 · c14d944
1 parent 8727c32
commit c14d944
Show file tree

Hide file tree

Showing 26 changed files with 539 additions and 1,225 deletions.
diff --git a/README.md b/README.md
@@ -5,34 +5,69 @@ This repository contains Python samples for Mech-Eye SDK.
 ## Installation
 
 ### Ubuntu 
+
 1. Clone this repository to a specific folder.
-2. Install [Mech-Eye API for Ubuntu](https://www.mech-mind.com/download/camera-sdk.html).
+2. Install [Mech-Eye API for Ubuntu](https://www.mech-mind.com/download/softwaredownloading.html).
 3. Install Mech-Eye API python wrapper by pip3.
 
-```Python
-pip3 install MechEyeAPI
-```
+    ```Python
+    sudo pip3 install MechEyeAPI
+    ```
+
+4. (Optional) Install OpenCV and Open3D if you will run the samples marked with `(OpenCV)` and `(Open3D)` below.
+    * Install OpenCV:
+
+      ```Python
+      sudo apt-get install libopencv-dev
+      sudo apt-get install python3-opencv
+      ```
+
+    * Install Open3D:
+
+      ```Python
+      python3 -m pip install --upgrade pip
+      sudo pip install open3d
+      ```
 
-4. Open and run one of the samples.
+5. Open and run one of the samples.
 
-```Python
-python3 ConnectAndCaptureImage.py
-```
+    ```Python
+    cd ~/mecheye_python_samples/source/Basic
+    python3 ConnectAndCaptureImage.py
+    ```
 
+> Note:: When writing your own program, use the import command to import Mech-Eye API first. Please import Mech-Eye API before importing Open3D.
 
 ### Windows
+
+> Attention
+>
+> Please check if the following two directories are added to the **Path** environment variable:
+>
+> - xxx\\AppData\\Local\Programs\Python\\Python36\\
+> - xxx\\AppData\\Local\Programs\Python\\Python36\\Scripts\\
+
 1. Clone this repository to a specific folder.
-2. Install [Mech-Eye SDK for Windows](https://www.mech-mind.com/download/camera-sdk.html).
+2. Install [Mech-Eye SDK for Windows](https://www.mech-mind.com/download/softwaredownloading.html).
 3. Install Mech-Eye API python wrapper by pip.
 
-```Python
-pip install MechEyeAPI
-```
-4. Open and run one of the samples.
+    ```Python
+    pip install MechEyeAPI
+    ```
+
+4. (Optional) Install OpenCV if you will run the samples marked with `(OpenCV)` below.
+
+    ```Python
+    pip install opencv-python
+    pip install opencv-contrib-python
+    ```
+
+5. Open and run one of the samples.
 
-```Python
-python ConnectAndCaptureImage.py
-```
+    ```Python
+    cd  xxx\mecheye_python_samples\source\Basic
+    python ConnectAndCaptureImage.py
+    ```
 
 
 ## Sample List
@@ -42,36 +77,38 @@ Samples are divided into five categories, **Basic**, **Advanced**, **Util**, **L
 - **Basic**: camera connection and basic capturing functions.
 - **Advanced**: advanced capturing functions.
 - **Util**: obtain information from a camera and set camera parameters.
-- **Laser**: for Laser/LSR series cameras only. 
+- **Laser**: for Laser, LSR and DEEP series cameras only. 
 - **UHP**: for UHP series cameras only. 
 
-The samples marked with `(Open3D)` require [open3d](https://pypi.org/project/open3d/) to be installed via pip.
+The samples marked with `(Open3D)` require [open3d](https://pypi.org/project/open3d/) to be installed via pip (On Windows, installing Mech-Eye SDK will also install Open3D).
 The samples marked with `(OpenCV)` require [opencv-python](https://pypi.org/project/opencv-python/) and [opencv-contrib-python](https://pypi.org/project/opencv-contrib-python/) to be installed via pip.
 
 - **Basic**
   - [ConnectToCamera](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Basic/ConnectToCamera.py)  
     Connect to a Mech-Eye Industrial 3D Camera.
   - [ConnectAndCaptureImage](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Basic/ConnectAndCaptureImage.py)  
-    Connect to a camera and obtain 2D image, depth map and 3D image.
+    Connect to a camera and obtain the 2D image, depth map and point cloud data.
   - [CaptureColorMap](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Basic/CaptureColorMap.py) `(OpenCV)`  
-    Obtain 2D image in OpenCV format from a camera.
+    Obtain and save the 2D image in OpenCV format from a camera.
   - [CaptureDepthMap](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Basic/CaptureDepthMap.py) `(OpenCV)`  
-    Obtain depth map in OpenCV format from a camera.
+    Obtain and save the depth map in OpenCV format from a camera.
   - [CapturePointCloud](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Basic/CapturePointCloud.py) `(Open3D)`  
-    Obtain untextured and textured point clouds (PCL format) generated from images captured with a single exposure time.
+    Obtain and save untextured and textured point clouds generated from images captured with a single exposure time.
   - [CaptureHDRPointCloud](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Basic/CaptureHDRPointCloud.py) `(Open3D)`  
-    Obtain untextured and textured point clouds (PCL format) generated from images captured with multiple exposure times.
+    Obtain and save untextured and textured point clouds generated from images captured with multiple exposure times.
   - [CapturePointCloudROI](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Basic/CapturePointCloudROI.py) `(Open3D)`  
-    Obtain untextured and textured point clouds (PCL format) of the objects in the ROI from a camera.
+    Obtain and save untextured and textured point clouds of the objects in the ROI from a camera.
+  - [CapturePointCloudFromTextureMask](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Basic/CapturePointCloudFromTextureMask.py) `(Open3D)`  
+    Construct and save untextured and textured point clouds generated from a depth map and masked 2D image.
 - **Advanced**
   - [CaptureCloudFromDepth](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Advanced/CaptureCloudFromDepth.py) `(Open3D)`  
-    Construct point clouds from depth map and 2D image captured from a camera.
+    Construct and save point clouds from the depth map and 2D image obtained from a camera.
   - [CaptureSequentiallyMultiCamera](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Advanced/CaptureSequentiallyMultiCamera.py)
-    Obtain 2D image, depth map and 3D images sequentially from multiple cameras.
+    Obtain and save 2D images, depth maps and point clouds sequentially from multiple cameras.
   - [CaptureSimultaneouslyMultiCamera](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Advanced/CaptureSimultaneouslyMultiCamera.py)
-    Obtain 2D image, depth map and 3D images simultaneously from multiple cameras.
+    Obtain and save 2D images, depth maps and point clouds simultaneously from multiple cameras.
   - [CaptureTimedAndPeriodically](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Advanced/CaptureTimedAndPeriodically.py)
-    Obtain 2D image, depth map and 3D images periodically for the specified duration from a camera.
+    Obtain and save 2D images, depth maps and point clouds periodically for the specified duration from a camera.
 - **Util**
   - [GetCameraIntri](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Util/GetCameraIntri.py)  
     Get and print a camera's intrinsic parameters.
@@ -82,7 +119,7 @@ The samples marked with `(OpenCV)` require [opencv-python](https://pypi.org/proj
   - [SetParameters](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Util/SetParameters.py)  
     Set specified parameters to a camera.
   - [SetUserSets](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Util/SetUserSets.py)  
-    Functions related to parameter groups, such as getting the names of available parameter groups, switching parameter group, and save the current parameter values to a specific parameter group. The parameter group feature allows user to save and quickly apply a set of parameter values.
+    Perform functions related to parameter groups, such as getting the names of available parameter groups, switching parameter group, and save the current parameter values to a specific parameter group. The parameter group feature allows user to save and quickly apply a set of parameter values.
 - **Laser**
   - [SetLaserFramePartitionCount](https://github.com/MechMindRobotics/mecheye_python_samples/tree/master/source/Laser/SetLaserFramePartitionCount.py)  
     Divide the projector FOV into partitions and project structured light in one partition at a time. The output of the entire FOV is composed from images of all partitions.

diff --git a/source/Advanced/CaptureCloudFromDepth.py b/source/Advanced/CaptureCloudFromDepth.py
@@ -1,100 +1,44 @@
+import sys, os
+BASE_DIR = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+sys.path.append(BASE_DIR)
+
+from source import Common
 from MechEye import Device
-import open3d as o3d
 import numpy as np
-
-
-def show_error(status):
-    if status.ok():
-        return
-    print("Error Code : {}".format(status.code()),
-          ",Error Description: {}".format(status.description()))
-
-
-def print_device_info(num, info):
-    print(" Mech-Eye device index: {}\n".format(str(num)),
-          "Camera Model Name: {}\n".format(info.model()),
-          "Camera ID: {}\n".format(info.id()),
-          "Camera IP: {}\n".format(info.ip()),
-          "Hardware Version: {}\n".format(info.hardware_version()),
-          "Firmware Version: {}\n".format(info.firmware_version()),
-          "...............................................")
-
+import open3d as o3d
 
 class CaptureCloudFromDepth(object):
     def __init__(self):
         self.device = Device()
 
-    def find_camera_list(self):
-        print("Find Mech-Eye devices...")
-        self.device_list = self.device.get_device_list()
-        if len(self.device_list) == 0:
-            print("No Mech-Eye device found.")
-            quit()
-        for i, info in enumerate(self.device_list):
-            print_device_info(i, info)
-
-    def choose_camera(self):
-        while True:
-            user_input = input(
-                "Please enter the device index you want to connect: ")
-            if user_input.isdigit() and len(self.device_list) > int(user_input) and int(user_input) >= 0:
-                self.index = int(user_input)
-                break
-            print("Input invalid!")
-
-    def connect_device_info(self):
-        status = self.device.connect(self.device_list[self.index])
-        if not status.ok():
-            show_error(status)
-            quit()
-        print("Connected to the Mech-Eye device successfully.")
-
-        color = self.device.capture_color()
-        color_data = color.data()
+    def capture_cloud_from_depth(self):
         depth = self.device.capture_depth()
         depth_data = depth.data()
         device_intrinsic = self.device.get_device_intrinsic().depth_camera_intrinsic()
 
         point_cloud_xyz = o3d.geometry.PointCloud()
-        points_xyz = np.zeros(
-            (depth.width() * depth.height(), 3), dtype=np.float64)
+        points_xyz = np.zeros((depth.width() * depth.height(), 3), dtype=np.float64)
 
         width = depth.width()
+        print("Depth map element size is: {}".format(depth_data.size))
         for i, d in enumerate(depth_data):
             for j, dd in enumerate(d):
-                points_xyz[width * i + j][0] = (j - device_intrinsic.camera_matrix_cx()
-                                                ) * dd / device_intrinsic.camera_matrix_fx()
-                points_xyz[width * i + j][1] = (i - device_intrinsic.camera_matrix_cy()
-                                                ) * dd / device_intrinsic.camera_matrix_fy()
+                points_xyz[width * i + j][0] = (j - device_intrinsic.camera_matrix_cx()) * dd / device_intrinsic.camera_matrix_fx()
+                points_xyz[width * i + j][1] = (i - device_intrinsic.camera_matrix_cy()) * dd / device_intrinsic.camera_matrix_fy()
                 points_xyz[width * i + j][2] = dd
 
         point_cloud_xyz.points = o3d.utility.Vector3dVector(points_xyz)
         o3d.visualization.draw_geometries([point_cloud_xyz])
         o3d.io.write_point_cloud("PointCloudXYZ.ply", point_cloud_xyz)
         print("Point cloud saved to path PointCloudXYZ.ply")
 
-        point_cloud_xyz_rgb = o3d.geometry.PointCloud()
-        point_cloud_xyz_rgb.points = o3d.utility.Vector3dVector(points_xyz)
-        points_rgb = np.zeros(
-            (depth.width() * depth.height(), 3), dtype=np.float64)
-
-        pos = 0
-        for dd in np.nditer(color_data):
-            points_rgb[int(pos / 3)][int(2 - (pos % 3))] = dd / 255
-            pos = pos + 1
-
-        point_cloud_xyz_rgb.colors = o3d.utility.Vector3dVector(points_rgb)
-        o3d.visualization.draw_geometries([point_cloud_xyz_rgb])
-        o3d.io.write_point_cloud("PointCloudXYZRGB.ply", point_cloud_xyz_rgb)
-        print("Color point cloud saved to path PointCloudXYZRGB.ply")
-
         self.device.disconnect()
         print("Disconnected from the Mech-Eye device successfully.")
 
     def main(self):
-        self.find_camera_list()
-        self.choose_camera()
-        self.connect_device_info()
+        Common.find_camera_list(self)
+        if Common.choose_camera_and_connect(self):
+            self.capture_cloud_from_depth()
 
 
 if __name__ == '__main__':

diff --git a/source/Advanced/CaptureSequentiallyMultiCamera.py b/source/Advanced/CaptureSequentiallyMultiCamera.py
@@ -1,49 +1,15 @@
+import sys, os
+BASE_DIR = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+sys.path.append(BASE_DIR)
 from MechEye import Device
-
-
-def show_error(status):
-    if status.ok():
-        return
-    print("Error Code : {}".format(status.code()),
-          ",Error Description: {}".format(status.description()))
-
-
-def print_device_info(num, info):
-    print(" Mech-Eye device index: {}\n".format(str(num)),
-          "Camera Model Name: {}\n".format(info.model()),
-          "Camera ID: {}\n".format(info.id()),
-          "Camera IP: {}\n".format(info.ip()),
-          "Hardware Version: {}\n".format(info.hardware_version()),
-          "Firmware Version: {}\n".format(info.firmware_version()),
-          "...............................................")
+from source import Common
 
 
 class CaptureSequentiallyMultiCamera(object):
     def __init__(self):
         self.device = Device()
 
-    def find_camera_list(self):
-        print("Find Mech-Eye devices...")
-        self.device_list = self.device.get_device_list()
-        if len(self.device_list) == 0:
-            print("No Mech-Eye device found.")
-            quit()
-        for i, info in enumerate(self.device_list):
-            print_device_info(i, info)
-
-    def choose_camera(self):
-        self.indices = set()
-        while True:
-            user_input = input(
-                "Please enter the device index you want to connect. Enter a c to terminate adding devices: ")
-            if user_input == "c":
-                break
-            elif user_input.isdigit() and len(self.device_list) > int(user_input) and int(user_input) >= 0:
-                self.indices.add(int(user_input))
-            else:
-                print("Input invalid!")
-
-    def connect_device_info(self):
+    def connect_device_and_capture(self):
         for index in self.indices:
             device = Device()
             error_status = device.connect(self.device_list[index])
@@ -52,7 +18,7 @@ def connect_device_info(self):
                 quit()
 
             device_info = device.get_device_info()
-            print("Camera {} start capturing.".format(device_info.id()))
+            print("Camera {} start capturing.".format(device_info.id))
 
             device.capture_color()
             device.capture_depth()
@@ -63,9 +29,12 @@ def connect_device_info(self):
             print("Disconnected from the Mech-Eye device successfully.")
 
     def main(self):
-        self.find_camera_list()
-        self.choose_camera()
-        self.connect_device_info()
+        Common.find_camera_list(self)
+        Common.choose_multi_camera(self)
+        if len(self.indices) != 0:
+            self.connect_device_and_capture()
+        else:
+            print("No camera was selected.")
 
 
 if __name__ == '__main__':