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This version (10 May 2023 18:39) was approved by Andre Straker-Payne.The Previously approved version (10 May 2023 18:27) is available.Diff

Animated Depth Images using PyGame

The following examples works with the eval kit release TOF_Evaluation_ADTF3175D-Rel4.1.1 with Python 3.9.

It is assumed depth-image-animation-pygame.py is in TOF_Evaluation_ADTF3175D-Rel4.1.1/bin.

Python dependencies are:

  • Matplotlib - used for the viridis color map
  • PyGame - used for the animate
  • NumPy
Usage

Network connection: depth-image-animation-pygame.py <ip> <config>

USB or local usage: depth-image-animation-pygame.py <config>

For example

python depth-image-animation-pygame.py 10.42.0.1 tof-viewer_config.json

depth-image-animation-pygame.py
#
# BSD 3-Clause License
#
# Copyright (c) 2019, Analog Devices, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
#    list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
#    this list of conditions and the following disclaimer in the documentation
#    and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its
#    contributors may be used to endorse or promote products derived from
#    this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
import aditofpython as tof
import numpy as np
import pygame
import sys
import matplotlib.pyplot as plt
from matplotlib.colors import ListedColormap
 
modemapping = {
"mp": {"width":1024, "height":1024},
"qmp": {"width":512, "height":512}
}
 
mode = "mp"
 
if len(sys.argv) < 2  or sys.argv[1] == "--help" or sys.argv[1] == "-h" :
    print(f"{sys.argv[0]} usage:")
    print(f"USB: {sys.argv[0]} <config>")
    print(f"Network connection: {sys.argv[0]} <ip> <config>")
    exit(1)
 
viridis = plt.get_cmap('viridis')
 
system = tof.System()
 
cameras = []
if len(sys.argv) == 3 :
    status = system.getCameraListAtIp(cameras,sys.argv[1])
    config = sys.argv[2]
elif len(sys.argv) == 2 :
    status = system.getCameraList(cameras)
    config = sys.argv[1]
else :
    print("Too many arguments provided!")
    exit(1)
 
print("system.getCameraList()", status)
 
camera1 = cameras[0]
 
status = camera1.setControl("initialization_config", config)
print("camera1.setControl()", status)
 
status = camera1.initialize()
print("camera1.initialize()", status)
 
types = []
status = camera1.getAvailableFrameTypes(types)
print("camera1.getAvailableFrameTypes()", status)
print(types)
 
camDetails = tof.CameraDetails()
status = camera1.getDetails(camDetails)
print("camera1.getDetails()", status)
print("camera1 details:", "id:", camDetails.cameraId, "connection:", camDetails.connection)
 
status = camera1.setFrameType(mode)
print("camera1.setFrameType()", status)
 
status = camera1.start()
print("camera1.start()", status)
 
def normalize(image_scalar, width, height):
    image_scalar_norm = image_scalar / image_scalar.max()
 
    # Apply the colormap to the scalar image to obtain an RGB image
    image_rgb = viridis(image_scalar_norm)
 
    surface = (image_rgb[:, :, :3] * 255).astype(np.uint8)
    return surface
 
def animate():
    frame = tof.Frame()
    status = camera1.requestFrame(frame)
    frameDataDetails = tof.FrameDataDetails()
    status = frame.getDataDetails("depth", frameDataDetails)
    image = np.array(frame.getData("depth"), copy=False)
    image = np.rot90(image)
    return pygame.surfarray.make_surface(normalize(image, frameDataDetails.width, frameDataDetails.height))
 
def main():
    pygame.init()
    window_size = (modemapping[mode]["width"], modemapping[mode]["height"])
    screen = pygame.display.set_mode(window_size)
 
    # display the animation
    done = False
    i = 0
    while not done:
        for event in pygame.event.get():
            if event.type == pygame.QUIT:
                done = True
 
        screen.blit(animate(), (0, 0))
        pygame.display.flip()
 
    # quit Pygame
    pygame.quit()
 
    status = camera1.stop()
 
main()
resources/eval/user-guides/eval-adsd3175d-first-frame-pygame.txt · Last modified: 10 May 2023 18:39 by Andre Straker-Payne

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