xvsdk.py

Overview

xvsdk.py contains xvsdk related interfaces and data definition in python encapsulation.

1.0 File Catalogue

2.0 Interfaces Introduction

xvsdk.py contains xvsdk related interfaces and data definition in python encapsulation. Refer to the details as below:

Vector3F structure is used to receive 3D data of float type:

class Vector3F(Structure):
fields = [('x', c_float),
('y', c_float),
('z', c_float)]

Quaternion structure is used to receive converted quaternion data:

class Quaternion(Structure):
fields = [('q0', c_float),
('q1', c_float),
('q2', c_float),
('q3', c_float)]

Vector3D structure is used to receive 3D type of double type:

class Vector3D(Structure):
fields = [('x', c_double),
('y', c_double),
('z', c_double)]

Transform_Matrix structure is used to receive the data of matrix, rotation and translation.

class Transform_Matrix(Structure):
fields = [('rotation', c_double * 9),
('translation', c_double * 3)]

UnifiedCameraModel structure is used to receive calibration data of UnifiedCameraModel:

class UnifiedCameraModel(Structure):
fields = [('w', c_int),
('h', c_int),
('fx', c_double),
('fy', c_double),
('u0', c_double),
('v0', c_double),
('xi', c_double)]

PolynomialDistortionCameraModel structure is used to receive calibration data of PolynomialDistortionCameraModel:

class PolynomialDistortionCameraModel(Structure):
fields = [('w', c_int),
('h', c_int),
('fx', c_double),
('fy', c_double),
('u0', c_double),
('v0', c_double),
('distor', c_double * 5)]

TagData structure is used to receive calibration data of Apriltag which including the data of ID,location,orientation, quaternion, edge & host timestamp and confidence.

class TagData(Structure):
fields = [('tagID', c_int),
('position', c_float * 3),
('orientation', c_float * 3),
('quaternion', c_float * 4),
('edgeTimestamp', c_longlong),
('hostTimestamp', c_double),
('confidence', c_double)]

"init" interface is used to init device:

def init():
return dll.xvisio_device_init()

"stop" interface is used to shut down device:

def stop():
dll.xslam_uninit()

"slam_start" interface is used to start slam:

def slam_start():
return dll.xvisio_start_slam()

"slam_stop" interface is used to stop slam:

def slam_stop():
return dll.xvisio_stop_slam()

"stereo_start" interface is used to start FE camera:

def stereo_start():
return dll.xvisio_start_stereo()

"imu_start" interface is used to start IMU camera:

def imu_start():
return dll.xvisio_start_imu()

"rgb_start" interface is used to start RGB camera:

def rgb_start():
return dll.xvisio_start_rgb()

"tof_start" interface is used to start TOF camera:

def tof_start():
return dll.xvisio_start_tof()

"sgbm_start" interface is used to start SGBM camera:

def sgbm_start():
return dll.xvisio_start_sgbm()

"xvisio_get_6dof" interface is used to get the callback returned data of slam,6dof,orientation,quaternion,edge&host timestamp and confidence:

def xvisio_get_6dof():
dll.xvisio_get_6dof(byref(position), byref(orientation), byref(quaternion), byref(slam_edgeTimestamp), byref(slam_hostTimestamp), byref(slam_confidence))
return position, orientation, quaternion, slam_edgeTimestamp, slam_hostTimestamp, slam_confidence

"xvisio_get_6dof_prediction" interface is used to get the getpose returned data of slam (predictive value with a unit of s), 6dof,orientation,quaternion,edge&host timestamp and confidence:

def xvisio_get_6dof_prediction(prediction):
dll.xvisio_get_6dof_prediction(byref(position), byref(orientation), byref(quaternion), byref(slam_edgeTimestamp), byref(slam_hostTimestamp), byref(slam_confidence), prediction)
return position, orientation, quaternion, slam_edgeTimestamp, slam_hostTimestamp, slam_confidence

"xslam_get_imu" interface is used to get IMU data, return acceleration, angular velocity, edge timestamp and host timestamp:

def xslam_get_imu():
dll.xvisio_get_imu(byref(accel), byref(gyro), byref(imu_edgeTimestamp), byref(imu_hostTimestamp))
return accel, gyro, imu_edgeTimestamp, imu_hostTimestamp

"xvisio_get_stereo" interface is used to get Fisheye camera data which return the width/height data of the image,left/right fisheye image data, image data size,edge timestamp and host timestamp:

def xvisio_get_stereo():
dll.xvisio_get_stereo_info(byref(fe_width), byref(fe_height), byref(stereo_edgeTimestamp), byref(stereo_hostTimestamp), byref(fe_dataSize))
fe_left_data = (c_ubyte * fe_dataSize.value)()
fe_right_data = (c_ubyte * fe_dataSize.value)()
dll.xvisio_get_stereo_image(byref(fe_left_data), byref(fe_right_data))
return fe_width, fe_height, stereo_edgeTimestamp, stereo_hostTimestamp, fe_left_data, fe_right_data, fe_dataSize

"xvisio_get_rgb" interface is used to get RGB camera data which return the width/height data of the image, raw image data, image data size,edge timestamp and host timestamp:

def xvisio_get_rgb():
dll.xvisio_get_rgb_info(byref(rgb_width), byref(rgb_height),byref(rgb_edgeTimestamp), byref(rgb_hostTimestamp), byref(rgb_dataSize))
rgb_data = (c_ubyte * rgb_dataSize.value)()
dll.xvisio_get_rgb_image(byref(rgb_data))
return rgb_width, rgb_height, rgb_edgeTimestamp, rgb_hostTimestamp, rgb_data, rgb_dataSize

"xvisio_get_tof" interface is used to get TOF camera data which return the width/height data of the image, raw image data,image data size,edge timestamp and host timestamp:

def xvisio_get_tof():
dll.xvisio_get_tof_info(byref(tof_width), byref(tof_height),byref(tof_edgeTimestamp), byref(tof_hostTimestamp), byref(tof_dataSize))
tof_data = (c_ubyte * tof_dataSize.value)()
dll.xvisio_get_tof_image(byref(tof_data))
return tof_width, tof_height, tof_edgeTimestamp, tof_hostTimestamp, tof_data, tof_dataSize

"xvisio_get_sgbm" interface is used to get SGBM camera data which return the width/height data of the image, raw image data,image data size,edge timestamp and host timestamp:

def xvisio_get_sgbm():
dll.xvisio_get_sgbm_info(byref(sgbm_width), byref(sgbm_height),byref(sgbm_edgeTimestamp), byref(sgbm_hostTimestamp), byref(sgbm_dataSize))
sgbm_data = (c_ubyte * sgbm_dataSize.value)()
dll.xvisio_get_sgbm_image(byref(sgbm_data))
return sgbm_width, sgbm_height, sgbm_edgeTimestamp, sgbm_hostTimestamp, sgbm_data, sgbm_dataSize

"xvisio_get_sn" interface is used to get device SN and return SN string information:

def xvisio_get_sn():
sn = c_char_p()
dll.xvisio_get_sn(byref(sn))
return sn

"xvisio_get_fisheye_intrinsics" interface is used to get fisheye camera calibration data and return transform/ucm calibration information and calibration data arry size:

def xvisio_get_fisheye_intrinsics():
fe_trans_size = c_int()
fe_ucm_size = c_int()
dll.xvisio_get_fe_camera_intrinsics_param(byref(fe_trans_size), byref(fe_ucm_size))
fe_transform = (Transform_Matrix * fe_trans_size.value)()
fe_ucm = (UnifiedCameraModel * fe_ucm_size.value)()
dll.xvisio_get_fe_camera_intrinsics(fe_transform, fe_ucm)
return fe_trans_size, fe_ucm_size, fe_transform, fe_ucm

"xvisio_get_rgb_intrinsics" interface is used to receive RGB camera calibration data and return transform/ucm calibration information and calibration data arry size:

def xvisio_get_rgb_intrinsics():
rgb_trans_size = c_int()
rgb_pdcm_size = c_int()
dll.xvisio_get_rgb_camera_intrinsics_param(byref(rgb_trans_size), byref(rgb_pdcm_size))
rgb_transform = (Transform_Matrix * rgb_trans_size.value)()
rgb_pdcm = (PolynomialDistortionCameraModel * rgb_pdcm_size.value)()
dll.xvisio_get_rgb_camera_intrinsics(rgb_transform, rgb_pdcm)
return rgb_trans_size, rgb_pdcm_size, rgb_transform, rgb_pdcm

"xvisio_get_tof_intrinsics" interface is used to get TOF camera calibration parameter and return transform/ucm calibration information and calibration data arry size:

def xvisio_get_tof_intrinsics():
tof_trans_size = c_int()
tof_pdcm_size = c_int()
dll.xvisio_get_tof_camera_intrinsics_param(byref(tof_trans_size), byref(tof_pdcm_size))
tof_transform = (Transform_Matrix * tof_trans_size.value)()
tof_pdcm = (PolynomialDistortionCameraModel * tof_pdcm_size.value)()
dll.xvisio_get_tof_camera_intrinsics(tof_transform, tof_pdcm)
return tof_trans_size, tof_pdcm_size, tof_transform, tof_pdcm

"xvisio_set_rgb_camera_resolution" interface is used to set RGB camera resolution. 0-1920x1080， 1-1280x720， 2-640x480， 3-320x240， 4-2560x1920， 5-3840x2160:

def xvisio_set_rgb_camera_resolution(resolution):
dll.xvisio_set_rgb_camera_resolution(resolution)

"xvisio_get_fe_april_tags" interface is used to get data information of "April-tag" and return tag instructure which including the data of ID,location information,orientation,quaternion,edge/host timestemp and confidence:

def xvisio_get_fe_april_tags():
tagDetectorID = c_char_p()
tagSize = c_int()
dll.xvisio_get_fe_tag_size(byref(tagDetectorID), byref(tagSize))
tags = (TagData * tagSize.value)()
dll.xvisio_get_fe_tag_detection(tags)
return tags

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