pyorbbec 1.0.1.25__cp310-cp310-win_amd64.whl → 1.0.1.27__cp310-cp310-win_amd64.whl

pyorbbec/examples/two_devices_sync.py

@@ -1,233 +0,0 @@
-# ******************************************************************************
-#  Copyright (c) 2024 Orbbec 3D Technology, Inc
-#
-#  Licensed under the Apache License, Version 2.0 (the "License");
-#  you may not use this file except in compliance with the License.
-#  You may obtain a copy of the License at
-#
-#      http:# www.apache.org/licenses/LICENSE-2.0
-#
-#  Unless required by applicable law or agreed to in writing, software
-#  distributed under the License is distributed on an "AS IS" BASIS,
-#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-#  See the License for the specific language governing permissions and
-#  limitations under the License.
-# ******************************************************************************
-import json
-import os
-from queue import Queue
-from typing import List
-
-import cv2
-import numpy as np
-
-from pyorbbecsdk import *
-from utils import frame_to_bgr_image
-
-MAX_DEVICES = 2
-curr_device_cnt = 0
-
-MAX_QUEUE_SIZE = 5
-ESC_KEY = 27
-
-color_frames_queue: List[Queue] = [Queue() for _ in range(MAX_DEVICES)]
-depth_frames_queue: List[Queue] = [Queue() for _ in range(MAX_DEVICES)]
-serial_number_list: List[str] = ["" for _ in range(MAX_DEVICES)]
-has_color_sensor: List[bool] = [False for _ in range(MAX_DEVICES)]
-stop_rendering = False
-multi_device_sync_config = {}
-# config_file_path current file path
-config_file_path = os.path.join(
-    os.path.abspath(os.path.dirname(__file__)),
-    "../config/multi_device_sync_config.json",
-)
-
-
-def sync_mode_from_str(sync_mode_str: str) -> OBMultiDeviceSyncMode:
-    # to lower case
-    sync_mode_str = sync_mode_str.upper()
-    if sync_mode_str == "FREE_RUN":
-        return OBMultiDeviceSyncMode.FREE_RUN
-    elif sync_mode_str == "STANDALONE":
-        return OBMultiDeviceSyncMode.STANDALONE
-    elif sync_mode_str == "PRIMARY":
-        return OBMultiDeviceSyncMode.PRIMARY
-    elif sync_mode_str == "SECONDARY":
-        return OBMultiDeviceSyncMode.SECONDARY
-    elif sync_mode_str == "SECONDARY_SYNCED":
-        return OBMultiDeviceSyncMode.SECONDARY_SYNCED
-    elif sync_mode_str == "SOFTWARE_TRIGGERING":
-        return OBMultiDeviceSyncMode.SOFTWARE_TRIGGERING
-    elif sync_mode_str == "HARDWARE_TRIGGERING":
-        return OBMultiDeviceSyncMode.HARDWARE_TRIGGERING
-    else:
-        raise ValueError(f"Invalid sync mode: {sync_mode_str}")
-
-
-def on_new_frame_callback(frames: FrameSet, index: int):
-    global color_frames_queue, depth_frames_queue
-    global MAX_QUEUE_SIZE
-    assert index < MAX_DEVICES
-    color_frame = frames.get_color_frame()
-    depth_frame = frames.get_depth_frame()
-    if color_frame is not None:
-        if color_frames_queue[index].qsize() >= MAX_QUEUE_SIZE:
-            color_frames_queue[index].get()
-        color_frames_queue[index].put(color_frame)
-    if depth_frame is not None:
-        if depth_frames_queue[index].qsize() >= MAX_QUEUE_SIZE:
-            depth_frames_queue[index].get()
-        depth_frames_queue[index].put(depth_frame)
-
-
-def rendering_frames():
-    global color_frames_queue, depth_frames_queue
-    global curr_device_cnt
-    global stop_rendering
-    global serial_number_list
-    while not stop_rendering:
-        for i in range(curr_device_cnt):
-            color_frame = None
-            depth_frame = None
-            if not color_frames_queue[i].empty():
-                color_frame = color_frames_queue[i].get()
-            if not depth_frames_queue[i].empty():
-                depth_frame = depth_frames_queue[i].get()
-            if color_frame is None and depth_frame is None:
-                continue
-
-            # print serial number, color timestamp, depth timestamp, break line
-            if color_frame is not None:
-                print(f"device#{i}, color frame timestamp: {color_frame.get_timestamp_us()} us , system timestamp: {color_frame.get_system_timestamp_us()} us")
-            if depth_frame is not None:
-                print(f"device#{i}, depth frame timestamp: {depth_frame.get_timestamp_us()} us , system timestamp: {depth_frame.get_system_timestamp_us()} us")
-            color_image = None
-            depth_image = None
-            color_width, color_height = 0, 0
-            if color_frame is not None:
-                color_width, color_height = (
-                    color_frame.get_width(),
-                    color_frame.get_height(),
-                )
-                color_image = frame_to_bgr_image(color_frame)
-            if depth_frame is not None:
-                width = depth_frame.get_width()
-                height = depth_frame.get_height()
-                scale = depth_frame.get_depth_scale()
-                depth_format = depth_frame.get_format()
-                if depth_format != OBFormat.Y16:
-                    print("depth format is not Y16")
-                    continue
-                depth_data = np.frombuffer(depth_frame.get_data(), dtype=np.uint16)
-                depth_data = depth_data.reshape((height, width))
-
-                depth_data = depth_data.astype(np.float32) * scale
-
-                depth_image = cv2.normalize(
-                    depth_data, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U
-                )
-                depth_image = cv2.applyColorMap(depth_image, cv2.COLORMAP_JET)
-
-            if color_image is not None and depth_image is not None:
-                window_size = (color_width // 2, color_height // 2)
-                color_image = cv2.resize(color_image, window_size)
-                depth_image = cv2.resize(depth_image, window_size)
-                image = np.hstack((color_image, depth_image))
-            elif depth_image is not None and not has_color_sensor[i]:
-                image = depth_image
-            else:
-                continue
-            cv2.imshow("Device {}".format(i), image)
-            key = cv2.waitKey(1)
-            if key == ord("q") or key == ESC_KEY:
-                return
-
-
-def start_streams(pipelines: List[Pipeline], configs: List[Config]):
-    index = 0
-    for pipeline, config in zip(pipelines, configs):
-        pipeline.start(
-            config,
-            lambda frame_set, curr_index=index: on_new_frame_callback(
-                frame_set, curr_index
-            ),
-        )
-        index += 1
-
-
-def stop_streams(pipelines: List[Pipeline]):
-    for pipeline in pipelines:
-        pipeline.stop()
-
-
-def read_config(config_file: str):
-    global multi_device_sync_config
-    with open(config_file, "r") as f:
-        config = json.load(f)
-    for device in config["devices"]:
-        multi_device_sync_config[device["serial_number"]] = device
-        print(f"Device {device['serial_number']}: {device['config']['mode']}")
-
-
-def main():
-    global config_file_path
-    read_config(config_file_path)
-    ctx = Context()
-    device_list = ctx.query_devices()
-    global curr_device_cnt
-    curr_device_cnt = device_list.get_count()
-    if curr_device_cnt == 0:
-        print("No device connected")
-        return
-    if curr_device_cnt > MAX_DEVICES:
-        print("Too many devices connected")
-        return
-    pipelines: List[Pipeline] = []
-    configs: List[Config] = []
-    global has_color_sensor
-    for i in range(device_list.get_count()):
-        device = device_list.get_device_by_index(i)
-        pipeline = Pipeline(device)
-        config = Config()
-        serial_number = device.get_device_info().get_serial_number()
-        serial_number_list[i] = serial_number
-        sync_config_json = multi_device_sync_config[serial_number]
-        sync_config = device.get_multi_device_sync_config()
-        sync_config.mode = sync_mode_from_str(sync_config_json["config"]["mode"])
-        sync_config.color_delay_us = sync_config_json["config"]["color_delay_us"]
-        sync_config.depth_delay_us = sync_config_json["config"]["depth_delay_us"]
-        sync_config.trigger_out_enable = sync_config_json["config"]["trigger_out_enable"]
-        sync_config.trigger_out_delay_us = sync_config_json["config"]["trigger_out_delay_us"]
-        sync_config.frames_per_trigger = sync_config_json["config"]["frames_per_trigger"]
-        print(f"Device {serial_number} sync config: {sync_config}")
-        device.set_multi_device_sync_config(sync_config)
-        try:
-            profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
-            color_profile: VideoStreamProfile = (
-                profile_list.get_default_video_stream_profile()
-            )
-            config.enable_stream(color_profile)
-            has_color_sensor[i] = True
-        except OBError as e:
-            print(e)
-            has_color_sensor[i] = False
-        profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
-        depth_profile = profile_list.get_default_video_stream_profile()
-        config.enable_stream(depth_profile)
-        config.enable_stream(depth_profile)
-        pipelines.append(pipeline)
-        configs.append(config)
-    global stop_rendering
-    start_streams(pipelines, configs)
-    ctx.enable_multi_device_sync(60000)
-    try:
-        rendering_frames()
-        stop_streams(pipelines)
-    except KeyboardInterrupt:
-        stop_rendering = True
-        stop_streams(pipelines)
-    cv2.destroyAllWindows()
-
-
-if __name__ == "__main__":
-    main()

pyorbbec/examples/utils.py

@@ -1,127 +0,0 @@
-# ******************************************************************************
-#  Copyright (c) 2024 Orbbec 3D Technology, Inc
-#  
-#  Licensed under the Apache License, Version 2.0 (the "License");
-#  you may not use this file except in compliance with the License.  
-#  You may obtain a copy of the License at
-#  
-#      http:# www.apache.org/licenses/LICENSE-2.0
-#  
-#  Unless required by applicable law or agreed to in writing, software
-#  distributed under the License is distributed on an "AS IS" BASIS,
-#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-#  See the License for the specific language governing permissions and
-#  limitations under the License.
-# ******************************************************************************
-from typing import Union, Any, Optional
-
-import cv2
-import numpy as np
-
-from pyorbbecsdk import FormatConvertFilter, VideoFrame
-from pyorbbecsdk import OBFormat, OBConvertFormat
-
-
-def yuyv_to_bgr(frame: np.ndarray, width: int, height: int) -> np.ndarray:
-    yuyv = frame.reshape((height, width, 2))
-    bgr_image = cv2.cvtColor(yuyv, cv2.COLOR_YUV2BGR_YUY2)
-    return bgr_image
-
-
-def uyvy_to_bgr(frame: np.ndarray, width: int, height: int) -> np.ndarray:
-    uyvy = frame.reshape((height, width, 2))
-    bgr_image = cv2.cvtColor(uyvy, cv2.COLOR_YUV2BGR_UYVY)
-    return bgr_image
-
-
-def i420_to_bgr(frame: np.ndarray, width: int, height: int) -> np.ndarray:
-    y = frame[0:height, :]
-    u = frame[height:height + height // 4].reshape(height // 2, width // 2)
-    v = frame[height + height // 4:].reshape(height // 2, width // 2)
-    yuv_image = cv2.merge([y, u, v])
-    bgr_image = cv2.cvtColor(yuv_image, cv2.COLOR_YUV2BGR_I420)
-    return bgr_image
-
-
-def nv21_to_bgr(frame: np.ndarray, width: int, height: int) -> np.ndarray:
-    y = frame[0:height, :]
-    uv = frame[height:height + height // 2].reshape(height // 2, width)
-    yuv_image = cv2.merge([y, uv])
-    bgr_image = cv2.cvtColor(yuv_image, cv2.COLOR_YUV2BGR_NV21)
-    return bgr_image
-
-
-def nv12_to_bgr(frame: np.ndarray, width: int, height: int) -> np.ndarray:
-    y = frame[0:height, :]
-    uv = frame[height:height + height // 2].reshape(height // 2, width)
-    yuv_image = cv2.merge([y, uv])
-    bgr_image = cv2.cvtColor(yuv_image, cv2.COLOR_YUV2BGR_NV12)
-    return bgr_image
-
-
-def determine_convert_format(frame: VideoFrame):
-    if frame.get_format() == OBFormat.I420:
-        return OBConvertFormat.I420_TO_RGB888
-    elif frame.get_format() == OBFormat.MJPG:
-        return OBConvertFormat.MJPG_TO_RGB888
-    elif frame.get_format() == OBFormat.YUYV:
-        return OBConvertFormat.YUYV_TO_RGB888
-    elif frame.get_format() == OBFormat.NV21:
-        return OBConvertFormat.NV21_TO_RGB888
-    elif frame.get_format() == OBFormat.NV12:
-        return OBConvertFormat.NV12_TO_RGB888
-    elif frame.get_format() == OBFormat.UYVY:
-        return OBConvertFormat.UYVY_TO_RGB888
-    else:
-        return None
-
-
-def frame_to_rgb_frame(frame: VideoFrame) -> Union[Optional[VideoFrame], Any]:
-    if frame.get_format() == OBFormat.RGB:
-        return frame
-    convert_format = determine_convert_format(frame)
-    if convert_format is None:
-        print("Unsupported format")
-        return None
-    print("covert format: {}".format(convert_format))
-    convert_filter = FormatConvertFilter()
-    convert_filter.set_format_convert_format(convert_format)
-    rgb_frame = convert_filter.process(frame)
-    if rgb_frame is None:
-        print("Convert {} to RGB failed".format(frame.get_format()))
-    return rgb_frame
-
-
-def frame_to_bgr_image(frame: VideoFrame) -> Union[Optional[np.array], Any]:
-    width = frame.get_width()
-    height = frame.get_height()
-    color_format = frame.get_format()
-    data = np.asanyarray(frame.get_data())
-    image = np.zeros((height, width, 3), dtype=np.uint8)
-    if color_format == OBFormat.RGB:
-        image = np.resize(data, (height, width, 3))
-        image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
-    elif color_format == OBFormat.BGR:
-        image = np.resize(data, (height, width, 3))
-        image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
-    elif color_format == OBFormat.YUYV:
-        image = np.resize(data, (height, width, 2))
-        image = cv2.cvtColor(image, cv2.COLOR_YUV2BGR_YUYV)
-    elif color_format == OBFormat.MJPG:
-        image = cv2.imdecode(data, cv2.IMREAD_COLOR)
-    elif color_format == OBFormat.I420:
-        image = i420_to_bgr(data, width, height)
-        return image
-    elif color_format == OBFormat.NV12:
-        image = nv12_to_bgr(data, width, height)
-        return image
-    elif color_format == OBFormat.NV21:
-        image = nv21_to_bgr(data, width, height)
-        return image
-    elif color_format == OBFormat.UYVY:
-        image = np.resize(data, (height, width, 2))
-        image = cv2.cvtColor(image, cv2.COLOR_YUV2BGR_UYVY)
-    else:
-        print("Unsupported color format: {}".format(color_format))
-        return None
-    return image

pyorbbec-1.0.1.25.dist-info/METADATA

@@ -1,12 +0,0 @@
-Metadata-Version: 2.4
-Name: pyorbbec
-Version: 1.0.1.25
-Summary: pyorbbecsdk is a python wrapper for the OrbbecSDK
-Author: zhonghong
-Author-email: zhonghong@orbbec.com
-License-File: LICENSE
-License-File: NOTICE
-Dynamic: author
-Dynamic: author-email
-Dynamic: license-file
-Dynamic: summary

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pyorbbec-1.0.1.25.dist-info/licenses/NOTICE

@@ -1 +0,0 @@
-

pyorbbecsdk/OrbbecSDKConfig-release.cmake

@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file for configuration "Release".
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "ob::OrbbecSDK" for configuration "Release"
-set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
-set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_IMPLIB_RELEASE "${_IMPORT_PREFIX}/lib/OrbbecSDK.lib"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/bin/OrbbecSDK.dll"
-  )
-
-list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/OrbbecSDK.lib" "${_IMPORT_PREFIX}/bin/OrbbecSDK.dll" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)

pyorbbecsdk/OrbbecSDKConfig.cmake

@@ -1,104 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
-   message(FATAL_ERROR "CMake >= 2.8.0 required")
-endif()
-if(CMAKE_VERSION VERSION_LESS "2.8.3")
-   message(FATAL_ERROR "CMake >= 2.8.3 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.8.3...3.28)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_cmake_targets_defined "")
-set(_cmake_targets_not_defined "")
-set(_cmake_expected_targets "")
-foreach(_cmake_expected_target IN ITEMS ob::OrbbecSDK)
-  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
-  if(TARGET "${_cmake_expected_target}")
-    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
-  else()
-    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
-  endif()
-endforeach()
-unset(_cmake_expected_target)
-if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
-  unset(_cmake_targets_defined)
-  unset(_cmake_targets_not_defined)
-  unset(_cmake_expected_targets)
-  unset(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT _cmake_targets_defined STREQUAL "")
-  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
-  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
-endif()
-unset(_cmake_targets_defined)
-unset(_cmake_targets_not_defined)
-unset(_cmake_expected_targets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target ob::OrbbecSDK
-add_library(ob::OrbbecSDK SHARED IMPORTED)
-
-set_target_properties(ob::OrbbecSDK PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
-)
-
-# Load information for each installed configuration.
-file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/OrbbecSDKConfig-*.cmake")
-foreach(_cmake_config_file IN LISTS _cmake_config_files)
-  include("${_cmake_config_file}")
-endforeach()
-unset(_cmake_config_file)
-unset(_cmake_config_files)
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(_cmake_target IN LISTS _cmake_import_check_targets)
-  if(CMAKE_VERSION VERSION_LESS "3.28"
-      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
-      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
-    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
-      if(NOT EXISTS "${_cmake_file}")
-        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
-   \"${_cmake_file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-      endif()
-    endforeach()
-  endif()
-  unset(_cmake_file)
-  unset("_cmake_import_check_files_for_${_cmake_target}")
-endforeach()
-unset(_cmake_target)
-unset(_cmake_import_check_targets)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)