2024-10-31

config.yaml

@@ -0,0 +1,20 @@
+camera:
+  exposureValue: 500  #曝光值
+  angleSpeed: 40  #角速度
+  gainValue:  #增益值
+    left: 1  #左目
+    right: 1  #右目
+  roi:
+    left:
+      - 0  #左
+      - 1216  #右
+      - 0  #上
+      - 1920  #下
+    right:
+      - 0  #左
+      - 1216  #右
+      - 0  #上
+      - 1920  #下
+  motorAngle:  #摆动机构起止角度
+    start: 0  #起
+    end: 74  #止

demo.py

@@ -0,0 +1,21 @@
+import camera_api
+import numpy as np
+from verify.identity import *
+
+if __name__ == '__main__':
+    # 创建相机对象
+    camera = camera_api.camera()
+    # 初始化相机设备
+    camera.init_device()
+    # 加载配置文件 config.yaml文件
+    camera.set_config()
+
+    # 设置手眼标定矩阵
+    camera.set_eye_hand_matrix(np.asarray([
+        [-0.54, 0.46, 0.70, -267.83],
+        [0.56, 0.82, -0.11, -104.90],
+        [-0.63, 0.34, -0.70, 220.57],
+        [0.0, 0.0, 0.0, 1.0]
+    ]))
+    # 获取点云文件, 返回值是数组点云信息，文件保存至路径格式为pcd，读取文件后含有颜色信息
+    points = camera.get_pcd_file('.', [0, 0, 0, 0, 0, 0], 0)

requirements.txt

@@ -0,0 +1,5 @@
+wmi~=1.5.1
+cython~=3.0.11
+numpy~=1.24.0
+open3d~=0.18.0
+pycryptodome~=3.21.0

sources/verify/identity

@@ -0,0 +1 @@
+559748818666b6facdff27e34d5d6f87a68d8d02fe17a94c919cdb38e18ce404

sources/verify/public.pem

@@ -0,0 +1,9 @@
+-----BEGIN PUBLIC KEY-----
+MIIBIjANBgkqhkiG9w0BAQEFAAOCAQ8AMIIBCgKCAQEA0VpnhKBsl58QELT92Uav
+SDH7OUkmy4gbqCiUorZi5ok8AEGnl8cqwD2DR5s+FSdPMBbdz1umHfmYib/o4TVe
+a56RmyCMqxDIIrZGykIUiefQgqb/cIehwSnB8OWWLzVKz4q3Vz1GHrdQdbhMCVxW
+o3zhInlBDX2B46faSjXiljzQYqneuRZ+mJOlB9+P0PBp6xln1bcdv46qCgieUBKt
+RnLBBxamJH6iEIk3MwaS12EiWnMIG/Obzeef98CAyv201DqrJWQAf6V7//3RsYr0
+YyXw6ZwoAqq9Gh7H0a6zg4iza9pauVi3GTckebEOr2fGy5rRuNTTpyPVeqrUdo16
+OwIDAQAB
+-----END PUBLIC KEY-----