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

pyorbbecsdk/examples/playback.py

@@ -0,0 +1,277 @@
+# ******************************************************************************
+#  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 cv2
+import numpy as np
+from pyorbbecsdk import *
+from utils import frame_to_bgr_image
+
+# cached frames for better visualization
+cached_frames = {
+    'color': None,
+    'depth': None,
+    'left_ir': None,
+    'right_ir': None,
+    'ir': None
+}
+
+def setup_camera(playback):
+    """Setup camera and stream configuration"""
+    pipeline = Pipeline(playback)
+    config = Config()
+    device = pipeline.get_device()
+
+    # Try to enable all possible sensors
+    video_sensors = [
+        OBSensorType.COLOR_SENSOR,
+        OBSensorType.DEPTH_SENSOR,
+        OBSensorType.IR_SENSOR,
+        OBSensorType.LEFT_IR_SENSOR,
+        OBSensorType.RIGHT_IR_SENSOR,
+        OBSensorType.ACCEL_SENSOR, 
+        OBSensorType.GYRO_SENSOR, 
+    ]
+    enabled_sensor_types = []  
+
+    sensor_list = device.get_sensor_list()
+    for sensor in range(len(sensor_list)):
+        try:
+            sensor_type = sensor_list[sensor].get_type()
+            if sensor_type in video_sensors:
+                config.enable_stream(sensor_type)
+                enabled_sensor_types.append(sensor_type)
+        except:
+            continue
+    return pipeline, config, enabled_sensor_types
+
+def process_color(frame):
+    """Process color image"""
+    frame = frame if frame else cached_frames['color']
+    cached_frames['color'] = frame
+    return frame_to_bgr_image(frame) if frame else None
+
+
+def process_depth(frame):
+    """Process depth image"""
+    frame = frame if frame else cached_frames['depth']
+    cached_frames['depth'] = frame
+    if not frame:
+        return None
+    try:
+        depth_data = np.frombuffer(frame.get_data(), dtype=np.uint16)
+        depth_data = depth_data.reshape(frame.get_height(), frame.get_width())
+        depth_image = cv2.normalize(depth_data, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U)
+        return cv2.applyColorMap(depth_image, cv2.COLORMAP_JET)
+    except ValueError:
+        return None
+
+
+def process_ir(ir_frame, key):
+    """Process IR frame (left, right, or mono) with cache"""  
+    ir_frame = ir_frame if ir_frame else cached_frames[key]
+    cached_frames[key] = ir_frame
+    if ir_frame is None:
+        return None
+
+    ir_frame = ir_frame.as_video_frame()
+    ir_data = np.asanyarray(ir_frame.get_data())
+    width = ir_frame.get_width()
+    height = ir_frame.get_height()
+    ir_format = ir_frame.get_format()
+
+    if ir_format == OBFormat.Y8:
+        ir_data = np.resize(ir_data, (height, width, 1))
+        data_type = np.uint8
+        image_dtype = cv2.CV_8UC1
+        max_data = 255
+    elif ir_format == OBFormat.MJPG:
+        ir_data = cv2.imdecode(ir_data, cv2.IMREAD_UNCHANGED)
+        data_type = np.uint8
+        image_dtype = cv2.CV_8UC1
+        max_data = 255
+        if ir_data is None:
+            print("decode mjpeg failed")
+            return None
+        ir_data = np.resize(ir_data, (height, width, 1))
+    else:
+        ir_data = np.frombuffer(ir_data, dtype=np.uint16)
+        data_type = np.uint16
+        image_dtype = cv2.CV_16UC1
+        max_data = 255
+        ir_data = np.resize(ir_data, (height, width, 1))
+
+    cv2.normalize(ir_data, ir_data, 0, max_data, cv2.NORM_MINMAX, dtype=image_dtype)
+    ir_data = ir_data.astype(data_type)
+    return cv2.cvtColor(ir_data, cv2.COLOR_GRAY2RGB)
+
+def get_imu_text(frame, name):
+    """Format IMU data"""
+    if not frame:
+        return []
+    return [
+        f"{name} x: {frame.get_x():.2f}",
+        f"{name} y: {frame.get_y():.2f}",
+        f"{name} z: {frame.get_z():.2f}"
+    ]
+
+
+
+def create_display(frames, enabled_sensor_types, width=1280, height=720):
+    """Create display window with correct dynamic layout"""
+    sensor_type_to_name = {
+        OBSensorType.COLOR_SENSOR: 'color',
+        OBSensorType.DEPTH_SENSOR: 'depth',
+        OBSensorType.LEFT_IR_SENSOR: 'left_ir',
+        OBSensorType.RIGHT_IR_SENSOR: 'right_ir',
+        OBSensorType.IR_SENSOR: 'ir'
+    }
+    video_keys = []
+    for sensor_type in enabled_sensor_types:
+        if sensor_type in sensor_type_to_name:
+            video_keys.append(sensor_type_to_name[sensor_type])
+
+    video_frames = [frames.get(k) for k in video_keys]
+    has_imu = 'imu' in frames
+    num_videos = len(video_frames)
+
+    total_elements = num_videos + (1 if has_imu else 0)
+
+    if total_elements == 1:
+        grid_cols, grid_rows = 1, 1
+    elif total_elements <= 2:
+        grid_cols, grid_rows = 2, 1
+    elif total_elements <= 4:
+        grid_cols, grid_rows = 2, 2
+    elif total_elements <= 5:
+        grid_cols, grid_rows = 2, 3
+    else:
+        raise ValueError("Too many elements! Maximum supported is 5.")
+
+    cell_w = width // grid_cols
+    cell_h = height // grid_rows
+
+    display = np.zeros((cell_h * grid_rows, cell_w * grid_cols, 3), dtype=np.uint8)
+
+    for idx, frame in enumerate(video_frames):
+        row = idx // grid_cols
+        col = idx % grid_cols
+        x_start = col * cell_w
+        y_start = row * cell_h
+        if frame is not None:
+            if total_elements == 1:
+                resized = cv2.resize(frame, (width, height))
+                display = resized
+            else:
+                resized = cv2.resize(frame, (cell_w, cell_h))
+                display[y_start:y_start + cell_h, x_start:x_start + cell_w] = resized
+        else:
+            cv2.rectangle(display, (x_start, y_start), (x_start + cell_w, y_start + cell_h), (0, 0, 0), -1)
+
+    if has_imu:
+        imu_idx = num_videos
+        row = imu_idx // grid_cols
+        col = imu_idx % grid_cols
+        x_start = col * cell_w
+        y_start = row * cell_h
+        cv2.rectangle(display, (x_start, y_start), (x_start + cell_w, y_start + cell_h), (50, 50, 50), -1)
+
+        y_offset = y_start + 30
+        for data_type in ['accel', 'gyro']:
+            text_lines = get_imu_text(frames['imu'].get(data_type), data_type.title())
+            for i, line in enumerate(text_lines):
+                cv2.putText(display, line, (x_start + 10, y_offset + i * 20),
+                            cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 255), 1, cv2.LINE_AA)
+            y_offset += 100
+
+    return display
+
+
+
+def main():
+    # Window settings
+    WINDOW_NAME = "MultiStream Playback(.bag) Viewer"
+    file_path = input("Enter output filename (.bag) and press Enter to start playbacking: ")
+
+    DISPLAY_WIDTH = 1280
+    DISPLAY_HEIGHT = 720
+    # initialize playback
+    playback  = PlaybackDevice(file_path)
+    # Initialize camera
+    pipeline, config, enabled_sensor_types = setup_camera(playback)
+    device = pipeline.get_device()
+    def on_status_change(status):
+        print(f"[Callback] status changed: {status}")
+        if status == PlaybackStatus.Stopped:
+            pipeline.stop()
+            pipeline.start(config)
+    playback.set_playback_status_change_callback(on_status_change)
+
+    pipeline.start(config)
+
+    cv2.namedWindow(WINDOW_NAME, cv2.WINDOW_NORMAL)
+    cv2.resizeWindow(WINDOW_NAME, DISPLAY_WIDTH, DISPLAY_HEIGHT)
+    processed_frames = {}
+    while True:
+        # Get all frames
+        frames = pipeline.wait_for_frames(100)
+        if not frames:
+            continue
+
+        # Process color image        
+        color_frame = frames.get_frame(OBFrameType.COLOR_FRAME)
+        if color_frame:
+            processed_frames['color'] = process_color(color_frame.as_video_frame())
+        # Process depth image
+        depth_frame = frames.get_frame(OBFrameType.DEPTH_FRAME)
+        if depth_frame:
+            processed_frames['depth'] = process_depth(depth_frame.as_video_frame())       
+        # Process left IR
+        left_ir_frame = frames.get_frame(OBFrameType.LEFT_IR_FRAME)
+        processed_frames['left_ir'] = process_ir(left_ir_frame, 'left_ir')
+
+        # Process right IR
+        right_ir_frame = frames.get_frame(OBFrameType.RIGHT_IR_FRAME)
+        processed_frames['right_ir'] = process_ir(right_ir_frame, 'right_ir')
+
+        # Process mono IR
+        ir_frame = frames.get_ir_frame()
+        processed_frames['ir'] = process_ir(ir_frame, 'ir')
+
+        # Process IMU data
+        accel = frames.get_frame(OBFrameType.ACCEL_FRAME)
+        gyro = frames.get_frame(OBFrameType.GYRO_FRAME)
+        if accel and gyro:
+            processed_frames['imu'] = {
+                'accel': accel.as_accel_frame(),
+                'gyro': gyro.as_gyro_frame()
+            }
+
+        # create display
+        display = create_display(processed_frames, enabled_sensor_types, DISPLAY_WIDTH, DISPLAY_HEIGHT)
+        cv2.imshow(WINDOW_NAME, display)
+
+        # check exit key
+        key = cv2.waitKey(1) & 0xFF
+        if key in (ord('q'), 27):
+            break
+
+    pipeline.stop()
+    playback  = None 
+    cv2.destroyAllWindows()
+
+
+if __name__ == "__main__":
+    main()

pyorbbecsdk/examples/point_cloud.py

@@ -0,0 +1,90 @@
+# ******************************************************************************
+#  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 numpy as np
+
+from pyorbbecsdk import *
+
+save_points_dir = os.path.join(os.getcwd(), "point_clouds")
+if not os.path.exists(save_points_dir):
+    os.mkdir(save_points_dir)
+
+def main():
+    pipeline = Pipeline()
+    config = Config()
+    
+    # Configure depth stream
+    depth_profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
+    if depth_profile_list is None:
+        print("No proper depth profile, cannot generate point cloud")
+        return
+    depth_profile = depth_profile_list.get_default_video_stream_profile()
+    config.enable_stream(depth_profile)
+
+    has_color_sensor = False
+    try:
+        # Configure color stream if available
+        profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
+        if profile_list is not None:
+            color_profile = profile_list.get_default_video_stream_profile()
+            config.enable_stream(color_profile)
+            has_color_sensor = True
+    except OBError as e:
+        print(e)
+
+    pipeline.enable_frame_sync()
+    pipeline.start(config)
+    
+    #camera_param = pipeline.get_camera_param()
+    align_filter = AlignFilter(align_to_stream=OBStreamType.COLOR_STREAM)
+    point_cloud_filter = PointCloudFilter()
+    #point_cloud_filter.set_camera_param(camera_param)
+
+    while True:
+        frames = pipeline.wait_for_frames(100)
+        if frames is None:
+            continue
+        
+        depth_frame = frames.get_depth_frame()
+        if depth_frame is None:
+            continue
+        
+        color_frame = frames.get_color_frame()
+        if has_color_sensor and color_frame is None:
+            continue
+        
+        frame = align_filter.process(frames)
+        #scale = depth_frame.get_depth_scale()
+        #point_cloud_filter.set_position_data_scaled(scale)
+
+        point_format = OBFormat.RGB_POINT if has_color_sensor and color_frame is not None else OBFormat.POINT
+        point_cloud_filter.set_create_point_format(point_format)
+
+        point_cloud_frame = point_cloud_filter.process(frame)
+        if point_cloud_frame is None:
+            continue
+        #save point cloud
+        save_point_cloud_to_ply(os.path.join(save_points_dir, "point_cloud.ply"), point_cloud_frame)
+        #save mesh to point cloud
+        #save_point_cloud_to_ply(os.path.join(save_points_dir, "point_cloud.ply"), point_cloud_frame, False, True, 50)        
+        break
+    print("stop pipeline")
+    pipeline.stop()
+
+
+if __name__ == "__main__":
+    main()

pyorbbecsdk/examples/post_processing.py

@@ -0,0 +1,119 @@
+# ******************************************************************************
+#  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
+
+import cv2
+import numpy as np
+
+from pyorbbecsdk import *
+
+ESC_KEY = 27
+PRINT_INTERVAL = 1  # seconds
+MIN_DEPTH = 20  # 20mm
+MAX_DEPTH = 10000  # 10000mm
+
+def main():
+    pipeline = Pipeline()
+    config = Config()
+    try:
+        profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
+        depth_profile = profile_list.get_default_video_stream_profile()
+        config.enable_stream(depth_profile)
+    except Exception as e:
+        print(e)
+        return
+
+    try:
+        pipeline.enable_frame_sync()
+    except Exception as e:
+        print(e)
+
+    try:
+        pipeline.start(config)
+    except Exception as e:
+        print(e)
+        return
+
+    device = pipeline.get_device()
+    assert device is not None
+    depth_sensor = device.get_sensor(OBSensorType.DEPTH_SENSOR)
+    assert depth_sensor is not None
+    filter_list = depth_sensor.get_recommended_filters()
+    assert filter_list is not None
+    # print filter list
+    for i in range(len(filter_list)):
+        post_filter = filter_list[i]
+        if post_filter:
+            print("filter name: ", post_filter.get_name())
+            print("filter is enabled: ", post_filter.is_enabled())
+
+    while True:
+        try:
+            frames = pipeline.wait_for_frames(100)
+            if not frames:
+                continue
+            depth_frame = frames.get_depth_frame()
+            if not depth_frame:
+                continue
+            for i in range(len(filter_list)):
+                post_filter = filter_list[i]
+                if post_filter and post_filter.is_enabled() and depth_frame:
+                    depth_data_size = depth_frame.get_data()
+                    if len(depth_data_size) < (depth_frame.get_width() * depth_frame.get_height() * 2):
+                        # print("depth data is not complete")
+                        continue
+
+                    new_depth_frame = post_filter.process(depth_frame)
+                    depth_frame = new_depth_frame.as_depth_frame()
+            # for Y16 format depth frame, print the distance of the center pixel every 30 frames
+            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
+            try:
+                depth_data = np.frombuffer(depth_frame.get_data(), dtype=np.uint16)
+                depth_data = depth_data.reshape((height, width))
+            except ValueError:
+                print("Failed to reshape depth data")
+                continue
+
+            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)
+            if depth_frame.get_format() == OBFormat.Y16 and depth_frame.get_index() % 30 == 0:
+                # print the distance of the center pixel
+                center_y = int(height / 2)
+                center_x = int(width / 2)
+                center_distance = depth_data[center_y, center_x]
+                print("center distance: ", center_distance)
+            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/preset.py

@@ -0,0 +1,67 @@
+# ******************************************************************************
+#  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 pyorbbecsdk as ob
+
+def main():
+    # Create a pipeline with default device
+    pipe = ob.Pipeline()
+
+    # Get the device from the pipeline
+    device = pipe.get_device()
+
+    try:
+        while True:
+            # Get preset list from device
+            preset_list = device.get_available_preset_list()
+            if len(preset_list) == 0:
+                print("The current device does not support preset mode")
+                break
+
+            print("\nAvailable Presets:")
+            for index in range(len(preset_list)):
+                print(f" - {index}. {preset_list[index]}")
+
+            # Print current preset name
+            print(f"\nCurrent PresetName: {device.get_current_preset_name()}")
+
+            # Select preset to load
+            try:
+                input_option = int(input("\nEnter index of preset to load (or -1 to exit): "))
+                if input_option == -1:
+                    break
+                if input_option < 0 or input_option >= len(preset_list):
+                    raise ValueError("Invalid index")
+            except ValueError:
+                print("Invalid input. Please enter a valid index.")
+                continue
+
+            preset_name = preset_list[input_option]
+
+            # Load preset
+            device.load_preset(preset_name)
+
+            # Print current preset name
+            print(f"\nPreset loaded. Current PresetName: {device.get_current_preset_name()}")
+
+    except ob.OBError as e:
+        print(f"Error: {str(e)}")
+    finally:
+        # Stop Pipeline
+        pipe.stop()
+
+if __name__ == "__main__":
+    main()

pyorbbecsdk/examples/quick_start.py

@@ -0,0 +1,90 @@
+# ******************************************************************************
+#  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 cv2
+import numpy as np
+import time
+
+from pyorbbecsdk import *
+from utils import frame_to_bgr_image
+
+ESC_KEY = 27
+MIN_DEPTH = 20  # 20mm
+MAX_DEPTH = 10000  # 10000mm
+
+def main():
+    pipeline = Pipeline()
+
+    pipeline.start()
+    print("Pipeline started successfully. Press 'q' or ESC to exit.")
+
+    # Set window size
+    window_width = 1280
+    window_height = 720
+    cv2.namedWindow("QuickStart Viewer", cv2.WINDOW_NORMAL)
+    cv2.resizeWindow("QuickStart Viewer", window_width, window_height)
+
+    while True:
+        try:
+            frames = pipeline.wait_for_frames(100)
+            if frames is None:
+                continue
+
+            # Get color frame
+            color_frame = frames.get_color_frame()
+            if color_frame is None:
+                continue
+            color_image = frame_to_bgr_image(color_frame)
+
+            # Get depth frame
+            depth_frame = frames.get_depth_frame()
+            if depth_frame is None:
+                continue
+            if depth_frame.get_format() != OBFormat.Y16:
+                print("Depth format is not Y16")
+                continue
+
+            # Process depth data
+            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).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).astype(np.uint16)
+
+            # Create depth visualization
+            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)
+
+            # Resize and combine images
+            color_image_resized = cv2.resize(color_image, (window_width // 2, window_height))
+            depth_image_resized = cv2.resize(depth_image, (window_width // 2, window_height))
+            combined_image = np.hstack((color_image_resized, depth_image_resized))
+            
+            cv2.imshow("QuickStart Viewer", combined_image)
+
+            if cv2.waitKey(1) in [ord('q'), ESC_KEY]:
+                break
+        except KeyboardInterrupt:
+            break
+
+    cv2.destroyAllWindows()
+    pipeline.stop()
+    print("Pipeline stopped and all windows closed.")
+
+if __name__ == "__main__":
+    main()