Presentation

The dmcam Python package is developed for interacting with Smarttof Module produced by Digital Intelligent technology co. LTD.

Usage example

import sys
import numpy as np
import time

import dmcam


def on_frame_rdy(dev, f):
    # print("cap: idx=%d, num=%d" % (f.frame_fbpos, f.frame_count))
    # time.sleep(0.5)
    pass


def on_cap_err(dev, errnumber, errarg):
    print("caperr: %s" % dmcam.error_name(errnumber))
    if errnumber == dmcam.DMCAM_ERR_CAP_FRAME_DISCARD:
        print("   %d frame discarded" % int(errarg))
    # if return false, the capture process will be stopped
    return True


# init the lib with default log file
dmcam.init(None)
# init with specified log file
# dmcam.init("test.log")
# set debug level
dmcam.log_cfg(dmcam.LOG_LEVEL_INFO,
              dmcam.LOG_LEVEL_DEBUG, dmcam.LOG_LEVEL_NONE)

# list device (maximum 10 devices to store)
print(" Scanning dmcam device ..")
devs = dmcam.dev_list()
if devs is None:
    print(" No device found")
    sys.exit(1)

print("found %d device" % len(devs))

for i in range(len(devs)):
    print("DMCAM#%d [%03d:%03d:%03d]: VENDOR=%s, PROD=%s, SERIAL=%s"
          % (i, devs[i].if_info.info.usb.usb_port_num, devs[i].if_info.info.usb.usb_bus_num,
             devs[i].if_info.info.usb.usb_dev_addr, devs[i].vendor,
             devs[i].product, devs[i].serial))

print(" Open dmcam device ..")
# open the first device
# dev = dmcam.dev_open(devs[0])
dev = dmcam.dev_open(None)
assert dev is not None

# print(" Config capture param ..")
# set 10 frames framebuffer
dmcam.cap_set_frame_buffer(dev, None, 10 * 320 * 240 * 4)
# dmcam.cap_set_callback_on_frame_ready(dev, on_frame_rdy)
dmcam.cap_set_callback_on_error(dev, on_cap_err)

# write to ramp mode
# dmcam.reg_batch_write(dev, dmcam.DEV_REG_TFC_DE, 0x31, np.array([0x1803], dtype="uint32"))
# regval = dmcam.reg_batch_read(dev, dmcam.DEV_REG_TFC_DE, 0x31, 1)
# print(regval)
# assert regval[1] == 0x1803

print(" Set paramters ...")
# write illumination power: 100%
pwr_percent = 100
wparams = {
    dmcam.PARAM_ILLUM_POWER: dmcam.param_val_u(),
    dmcam.PARAM_INTG_TIME: dmcam.param_val_u(),
    dmcam.PARAM_FRAME_FORMAT: dmcam.param_val_u(),
}
wparams[dmcam.PARAM_ILLUM_POWER].illum_power.percent = pwr_percent
wparams[dmcam.PARAM_INTG_TIME].intg.intg_us = 1000
wparams[dmcam.PARAM_FRAME_FORMAT].frame_format.format = 2

if not dmcam.param_batch_set(dev, wparams):
    print(" set parameter failed")

print(" Start capture ...")
dmcam.cap_start(dev)

f = bytearray(320 * 240 * 4 * 2)

print(" sampling 100 frames ...")
count = 0
run = True
while run:
    # get one frame
    finfo = dmcam.frame_t()
    ret = dmcam.cap_get_frames(dev, 1, f, finfo)
    # print("get %d frames" % ret)
    if ret > 0:
        w = finfo.frame_info.width
        h = finfo.frame_info.height

        print(" frame @ %d, %d, %dx%d" %
              (finfo.frame_info.frame_idx, finfo.frame_info.frame_size, w, h))

        dist_cnt, dist = dmcam.frame_get_distance(dev, w * h, f, finfo.frame_info)
        gray_cnt, gray = dmcam.frame_get_gray(dev, w * h, f, finfo.frame_info)
        # dist = dmcam.raw2dist(int(len(f) / 4), f)
        # gray = dmcam.raw2gray(int(len(f) / 4), f)

        count += 1
        if count >= 100:
            break

    else:
        break
    time.sleep(0.01)
    # break

# print("wait 3000ms")
# dmcam.cap_wait(dev, 3000)
print(" Stop capture ...")
dmcam.cap_stop(dev)

print(" Close dmcam device ..")
dmcam.dev_close(dev)
dmcam.uninit()
sys.exit(-1)