pyorbbec 1.0.1.7__py3-none-any.whl → 1.0.1.8__py3-none-any.whl

pyorbbecsdk/examples/depth.py

@@ -0,0 +1,107 @@
+# ******************************************************************************
+#  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 time
+
+import cv2
+import numpy as np
+
+from pyorbbecsdk import *
+
+ESC_KEY = 27
+PRINT_INTERVAL = 1  # seconds
+MIN_DEPTH = 20  # 20mm
+MAX_DEPTH = 10000  # 10000mm
+
+
+class TemporalFilter:
+    def __init__(self, alpha):
+        self.alpha = alpha
+        self.previous_frame = None
+
+    def process(self, frame):
+        if self.previous_frame is None:
+            result = frame
+        else:
+            result = cv2.addWeighted(frame, self.alpha, self.previous_frame, 1 - self.alpha, 0)
+        self.previous_frame = result
+        return result
+
+
+def main():
+    config = Config()
+    pipeline = Pipeline()
+    temporal_filter = TemporalFilter(alpha=0.5)
+    try:
+        profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
+        assert profile_list is not None
+        depth_profile = profile_list.get_default_video_stream_profile()
+        assert depth_profile is not None
+        print("depth profile: ", depth_profile)
+        config.enable_stream(depth_profile)
+    except Exception as e:
+        print(e)
+        return
+    pipeline.start(config)
+    last_print_time = time.time()
+    while True:
+        try:
+            frames = pipeline.wait_for_frames(100)
+            if frames is None:
+                continue
+            depth_frame = frames.get_depth_frame()
+            if depth_frame is None:
+                continue
+            depth_format = depth_frame.get_format()
+            if depth_format != OBFormat.Y16:
+                print("depth format is not Y16")
+                continue
+            width = depth_frame.get_width()
+            height = depth_frame.get_height()
+            scale = depth_frame.get_depth_scale()
+
+            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_data = np.where((depth_data > MIN_DEPTH) & (depth_data < MAX_DEPTH), depth_data, 0)
+            depth_data = depth_data.astype(np.uint16)
+            # Apply temporal filtering
+            depth_data = temporal_filter.process(depth_data)
+
+            center_y = int(height / 2)
+            center_x = int(width / 2)
+            center_distance = depth_data[center_y, center_x]
+
+            current_time = time.time()
+            if current_time - last_print_time >= PRINT_INTERVAL:
+                print("center distance: ", center_distance)
+                last_print_time = current_time
+
+            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)
+
+            cv2.imshow("Depth Viewer", depth_image)
+            key = cv2.waitKey(1)
+            if key == ord('q') or key == ESC_KEY:
+                break
+        except KeyboardInterrupt:
+            break
+    cv2.destroyAllWindows()
+    pipeline.stop()
+
+
+if __name__ == "__main__":
+    main()

pyorbbecsdk/examples/depth_work_mode.py

@@ -0,0 +1,50 @@
+# ******************************************************************************
+#  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 pyorbbecsdk import *
+
+ESC = 27
+
+
+def main():
+    pipeline = Pipeline()
+    assert pipeline is not None
+    device = pipeline.get_device()
+    assert device is not None
+    if not device.is_property_supported(OBPropertyID.OB_STRUCT_CURRENT_DEPTH_ALG_MODE,
+                                        OBPermissionType.PERMISSION_READ_WRITE):
+        print("Current device not support depth work mode!")
+        return
+    current_depth_work_mode = device.get_depth_work_mode()
+    assert current_depth_work_mode is not None
+    print("Current depth work mode: ", current_depth_work_mode)
+    depth_work_mode_list = device.get_depth_work_mode_list()
+    assert depth_work_mode_list is not None
+    for i in range(depth_work_mode_list.get_count()):
+        depth_work_mode = depth_work_mode_list.get_depth_work_mode_by_index(i)
+        assert depth_work_mode is not None
+        print("{}. {}".format(i, depth_work_mode))
+    if depth_work_mode_list.get_count() > 1:
+        index = int(input("Please input depth work mode index: "))
+        if depth_work_mode_list.get_count() > index >= 0:
+            select_depth_work_mode = depth_work_mode_list.get_depth_work_mode_by_index(index)
+            assert select_depth_work_mode is not None
+            device.set_depth_work_mode(select_depth_work_mode.name)
+            assert select_depth_work_mode == device.get_depth_work_mode()
+            print("Set depth work mode to {} success!".format(select_depth_work_mode))
+
+
+if __name__ == '__main__':
+    main()

pyorbbecsdk/examples/device_firmware_update.py

@@ -0,0 +1,155 @@
+# ******************************************************************************
+#  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 os
+import sys
+from pyorbbecsdk import *
+
+devices = []
+first_call = True
+
+
+def get_firmware_path():
+    """Prompt user for the firmware file path with improved Windows compatibility."""
+    while True:
+        firmware_path = input("Please input the path of the firmware file (.bin) to be updated (or 'q' to quit): ")
+
+        if firmware_path.lower() == 'q':
+            sys.exit("Exiting...")
+
+        # Clean up the input path
+        firmware_path = firmware_path.strip().strip("'").strip('"')  # Remove quotes and extra spaces
+
+        # Normalize path separators for Windows compatibility
+        firmware_path = os.path.normpath(firmware_path)
+
+        try:
+            # Convert to absolute path with proper handling of relative paths
+            firmware_path = os.path.abspath(os.path.expanduser(firmware_path))
+
+            # Verify the file exists and has .bin extension
+            if os.path.isfile(firmware_path) and firmware_path.lower().endswith(".bin"):
+                # Try to open the file to verify access permissions
+                try:
+                    with open(firmware_path, 'rb') as f:
+                        pass
+                    print(f"Firmware file confirmed: {firmware_path}\n")
+                    return firmware_path
+                except PermissionError:
+                    print("Error: Permission denied. Cannot access the specified file.\n")
+                except Exception as e:
+                    print(f"Error accessing file: {str(e)}\n")
+            else:
+                print("Invalid file format or path. Please provide a valid .bin file.\n")
+        except Exception as e:
+            print(f"Error processing path: {str(e)}\n")
+            print("Please provide a valid file path.\n")
+
+
+def print_device_list():
+    """Print the list of connected devices."""
+    print("--------------------------------------------------------------------------------")
+    for i, device in enumerate(devices):
+        device_info = device.get_device_info()
+        print(
+            f"[{i}] Device: {device_info.get_name()} | SN: {device_info.get_serial_number()} | Firmware version: {device_info.get_firmware_version()}")
+    print("--------------------------------------------------------------------------------")
+
+
+def select_device():
+    """Allow user to select a device by index."""
+    while True:
+        choice = input(
+            "Please select a device to update the firmware, enter 'l' to list devices, or 'q' to quit: \n").strip()
+
+        if choice.lower() == 'q':
+            return None
+
+        if choice.lower() == 'l':
+            print_device_list()
+            continue
+
+        try:
+            index = int(choice)
+            if 0 <= index < len(devices):
+                print()
+                return index
+            else:
+                print("Invalid index. Please select a valid device index.")
+        except ValueError:
+            print("Invalid input. Please enter a numeric index.")
+
+
+def firmware_update_callback(state, message, percent):
+    """Callback function to report firmware update progress."""
+    global first_call
+    if first_call:
+        first_call = False
+    else:
+        print("\033[F\033[F", end="")  # Move up two lines to overwrite previous output
+
+    print(f"Progress: {percent}%")
+    print(f"Status  : {state}")
+    print(f"Message : {message}\n")
+
+
+def main():
+    global first_call
+    try:
+        context = Context()
+        device_list = context.query_devices()
+
+        if device_list.get_count() == 0:
+            print("No device found. Please connect a device first!")
+            input("Press Enter to exit...")
+            return
+
+        for i in range(device_list.get_count()):
+            devices.append(device_list[i])
+
+        print("Devices found:")
+        print_device_list()
+
+        while True:
+            first_call = True
+            device_index = select_device()
+
+            if device_index is None:
+                break
+
+            firmware_path = get_firmware_path()
+
+            print("Upgrading device firmware, please wait...\n")
+            try:
+                devices[device_index].update_firmware(firmware_path, firmware_update_callback, async_update=False)
+                print("Firmware update completed successfully! Please reboot the device.")
+            except Exception as e:
+                print("\nThe upgrade was interrupted! An error occurred!")
+                print(f"Error message: {str(e)}")
+                input("Press Enter to exit...")
+                break
+
+            if input("Enter 'q' to quit, or any other key to continue: ").lower() == 'q':
+                break
+
+    except Exception as e:
+        print(f"Error: {str(e)}")
+        input("Press Enter to exit.")
+        sys.exit(1)
+
+
+if __name__ == "__main__":
+    main()

pyorbbecsdk/examples/device_optional_depth_presets_update.py

@@ -0,0 +1,142 @@
+import time
+import sys
+from pyorbbecsdk import *
+
+# Callback function to display update progress
+def preset_update_callback(first_call, state, message, percent):
+    if not first_call:
+        sys.stdout.write("\033[3F")  # Move cursor up 3 lines
+    sys.stdout.write("\033[K")  # Clear the current line
+    print(f"Progress: {percent}%")
+    sys.stdout.write("\033[K")
+    print(f"Status  : {state}")
+    sys.stdout.write("\033[K")
+    print(f"Message : {message}\n", end='')
+
+# Helper function to return the update state message
+# def get_update_status(state):
+#     if state == OBFwUpdateState.STAT_VERIFY_SUCCESS:
+#         return "Image file verification success"
+#     elif state == OBFwUpdateState.STAT_FILE_TRANSFER:
+#         return "File transfer in progress"
+#     elif state == OBFwUpdateState.STAT_DONE:
+#         return "Update completed"
+#     elif state == OBFwUpdateState.STAT_DONE_WITH_DUPLICATES:
+#         return "Update completed, duplicated presets have been ignored"
+#     elif state == OBFwUpdateState.STAT_IN_PROGRESS:
+#         return "Update in progress"
+#     elif state == OBFwUpdateState.STAT_START:
+#         return "Starting the update"
+#     elif state == OBFwUpdateState.STAT_VERIFY_IMAGE:
+#         return "Verifying image file"
+#     else:
+#         return "Unknown status or error"
+
+# Function to simulate input of preset file paths
+def get_preset_paths():
+    paths = []
+    print("Please input the file paths of the optional depth preset file (.bin):")
+    print(" - Press 'Enter' to finish this input")
+    print(" - Press 'Q' or 'q' to exit the program")
+    while len(paths) < 10:
+        path = input("Enter Path: ")
+        if path.lower() == 'q':
+            return None
+        if path == '':
+            if len(paths) == 0:
+                print("You didn't input any file paths")
+                continue
+            break
+        if path.endswith(".bin"):
+            paths.append(path)
+        else:
+            print("Invalid file format. Please provide a .bin file.")
+    return paths
+
+# Main loop to simulate device selection, preset update, and handling
+def main():
+      # Assuming `devices` is a list of `Device` objects that you've already gathered
+      devices = []
+      context = Context()
+      device_list = context.query_devices()
+
+      if device_list.get_count() == 0:
+            print("No device found. Please connect a device first!")
+            input("Press Enter to exit...")
+            return
+
+      for i in range(device_list.get_count()):
+            devices.append(device_list[i])
+
+      print("Devices found:")
+      print_device_list(devices)
+    
+      while True:
+        device = select_device(devices)  # User selects a device
+        
+        if not device:
+            break
+        
+        preset_paths = get_preset_paths()
+        if not preset_paths:
+            break
+        
+        print("Start to update optional depth preset, please wait a moment...\n")
+        
+        # Pass the paths list to the update function and update via callback
+        try:
+            device.update_optional_depth_presets(
+                preset_paths,
+                lambda state, message, percent: preset_update_callback(True, state, message, percent)
+            )
+        except Exception as e:
+            print(f"\nThe update was interrupted! An error occurred: {str(e)}")
+            break
+
+        print("\nUpdate completed successfully!")
+        # Assuming `print_preset(device)` will show the updated preset information
+        print_preset(device)
+
+        if not should_continue():
+            break
+
+# Function to print device list (similar to the C++ printDeviceList function)
+def print_device_list(devices):
+    for i, device in enumerate(devices):
+        print(f"[{i}] Device: {device.get_device_info().get_name()} | "
+              f"SN: {device.get_device_info().get_serial_number()} | "
+              f"Firmware version: {device.get_device_info().get_firmware_version()}")
+
+# Function to let the user select a device
+def select_device(devices):
+    while True:
+        device_index = input("Please select a device by index, or press 'q' to quit: ")
+        if device_index.lower() == 'q':
+            return None
+        try:
+            index = int(device_index)
+            if 0 <= index < len(devices):
+                return devices[index]
+            else:
+                print("Invalid index. Please try again.")
+        except ValueError:
+            print("Invalid input. Please enter a number.")
+
+# Function to check if the user wants to continue
+def should_continue():
+    input_str = input("Enter 'Q' or 'q' to quit, or any other key to continue: ")
+    return input_str.lower() != 'q'
+
+# Placeholder function to retrieve devices, implement this to match your system setup
+def get_devices():
+    # Example: Returning a list of Device objects.
+    # In real usage, you'll need to query connected devices.
+    return []
+
+# Placeholder function to print preset info after the update, implement as needed
+def print_preset(device):
+    print(f"Updated preset for device {device.get_device_info().get_name()}")
+
+# Run the program
+if __name__ == "__main__":
+    main()

pyorbbecsdk/examples/enumerate.py

@@ -0,0 +1,118 @@
+# ******************************************************************************
+#  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 sys
+from pyorbbecsdk import *
+
+ESC_KEY = 'q'
+
+
+def get_input_option():
+    """Get user input option, return -1 to exit"""
+    option = input("Please enter an option (or press 'q' to exit): ")
+    if option.lower() == ESC_KEY:
+        return -1
+    try:
+        return int(option)
+    except ValueError:
+        print("Invalid input, please enter a number!")
+        return get_input_option()
+
+
+def print_video_profile(profile, index, sensor_type):
+    """Print video stream profile information, including sensor type"""
+    # Check if VideoStreamProfile has the required methods
+    if all(hasattr(profile, attr) for attr in ["get_format", "get_width", "get_height", "get_fps"]):
+        format_name = profile.get_format()
+        width = profile.get_width()
+        height = profile.get_height()
+        fps = profile.get_fps()
+        print(
+            f"Sensor type: {sensor_type} | {index}. format: {format_name}, width: {width}, height: {height}, fps: {fps}")
+    else:
+        print(f"{index}. VideoStreamProfile is missing expected methods")
+
+
+def enumerate_stream_profiles(sensor):
+    """List stream profiles based on sensor type"""
+    try:
+        stream_profile_list = sensor.get_stream_profile_list()
+    except Exception as e:
+        print(f"Unable to get StreamProfileList: {e}")
+        return
+
+    sensor_type = sensor.get_type()
+    print("Available stream profiles:")
+    for index in range(stream_profile_list.get_count()):
+        try:
+            profile = stream_profile_list.get_stream_profile_by_index(index)
+            profile_type = type(profile).__name__
+            print(f"Profile #{index} type: {profile_type}")
+            if profile_type == "VideoStreamProfile":
+                print_video_profile(profile, index, sensor_type)
+            else:
+                print(f"{index}. Unknown video stream profile type")
+        except Exception as e:
+            print(f"Unable to retrieve stream profile: {e}")
+
+
+def enumerate_sensors(device):
+    """List device sensor information and allow user to select a sensor"""
+    sensor_list = device.get_sensor_list()
+    print("Available sensor list:")
+    for index in range(sensor_list.get_count()):
+        sensor_type = sensor_list.get_type_by_index(index)
+        print(f" - {index}. Sensor type: {sensor_type}")
+
+    # Prompt user to select a sensor
+    sensor_selected = get_input_option()
+    if sensor_selected == -1:
+        return
+    if sensor_selected >= sensor_list.get_count() or sensor_selected < 0:
+        print("Invalid input, please select again!")
+        return enumerate_sensors(device)
+
+    sensor = sensor_list.get_sensor_by_index(sensor_selected)
+    print(f"Selected sensor type: {sensor.get_type()}")
+    enumerate_stream_profiles(sensor)
+
+
+def main():
+    context = Context()
+    device_list = context.query_devices()
+    if device_list.get_count() < 1:
+        print("No device found, please connect a device and try again.")
+        return
+
+    print("Enumerated devices:")
+    for index in range(device_list.get_count()):
+        device = device_list[index]
+        device_info = device.get_device_info()
+        print(
+            f" - {index}. Device name: {device_info.get_name()}, PID: {device_info.get_pid()}, Serial Number: {device_info.get_serial_number()}")
+
+    # Default to selecting the first device
+    print(f"Please select a device, show between 0 and {device_list.get_count() - 1}")
+    device_selected = get_input_option()
+    if device_selected == -1:
+        print("Exiting...")
+        return
+    selected_device = device_list[device_selected]
+    enumerate_sensors(selected_device)
+
+
+if __name__ == "__main__":
+    main()