233 lines
9.9 KiB
Python
233 lines
9.9 KiB
Python
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import ctypes
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import struct
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from ctypes import *
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import sys
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MV_MAX_DEVICE_NUM=256
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MV_VS_OK=0x00000000
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CHUNK_MASK_IMAGE_PORT=60005536
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CHUNK_RESULT_PORT=60005537
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mv_lib = ctypes.windll.LoadLibrary("src/test/hikrobot_sc/bin/MvVisionSensorControl.dll")
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# define structures
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from ctypes import *
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class MvVSGvspPixelType(c_int):
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MVVS_PixelType_Undefined = 0xFFFFFFFF
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MVVS_PixelType_Mono1p = (0x0037)
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MVVS_PixelType_Mono2p = (0x0038)
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MVVS_PixelType_Mono4p = (0x0039)
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MVVS_PixelType_Mono8 = (0x0001)
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MVVS_PixelType_Mono8_Signed = (0x0002)
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MVVS_PixelType_Mono10 = (0x0003)
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MVVS_PixelType_Mono10_Packed = (0x0004)
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MVVS_PixelType_Mono12 = (0x0005)
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MVVS_PixelType_Mono12_Packed = (0x0006)
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MVVS_PixelType_Mono14 = (0x0025)
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MVVS_PixelType_Mono16 = (0x0007)
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MVVS_PixelType_BayerGR8 = (0x0008)
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MVVS_PixelType_BayerRG8 = (0x0009)
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MVVS_PixelType_BayerGB8 = (0x000A)
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MVVS_PixelType_BayerBG8 = (0x000B)
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MVVS_PixelType_BayerGR10 = (0x000C)
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MVVS_PixelType_BayerRG10 = (0x000D)
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MVVS_PixelType_BayerGB10 = (0x000E)
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MVVS_PixelType_BayerBG10 = (0x000F)
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MVVS_PixelType_BayerGR12 = (0x0010)
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MVVS_PixelType_BayerRG12 = (0x0011)
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MVVS_PixelType_BayerGB12 = (0x0012)
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MVVS_PixelType_BayerBG12 = (0x0013)
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MVVS_PixelType_BayerGR10_Packed = (0x0026)
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MVVS_PixelType_BayerRG10_Packed = (0x0027)
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MVVS_PixelType_BayerGB10_Packed = (0x0028)
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MVVS_PixelType_BayerBG10_Packed = (0x0029)
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MVVS_PixelType_BayerGR12_Packed = (0x002A)
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MVVS_PixelType_BayerRG12_Packed = (0x002B)
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MVVS_PixelType_BayerGB12_Packed = (0x002C)
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MVVS_PixelType_BayerBG12_Packed = (0x002D)
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MVVS_PixelType_BayerGR16 = (0x002E)
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MVVS_PixelType_BayerRG16 = (0x002F)
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MVVS_PixelType_BayerGB16 = (0x0030)
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MVVS_PixelType_BayerBG16 = (0x0031)
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MVVS_PixelType_RGB8_Packed = (0x0014)
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MVVS_PixelType_BGR8_Packed = (0x0015)
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MVVS_PixelType_RGBA8_Packed = (0x0016)
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MVVS_PixelType_BGRA8_Packed = (0x0017)
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MVVS_PixelType_RGB10_Packed = (0x0018)
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MVVS_PixelType_BGR10_Packed = (0x0019)
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MVVS_PixelType_RGB12_Packed = (0x001A)
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MVVS_PixelType_BGR12_Packed = (0x001B)
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MVVS_PixelType_RGB16_Packed = (0x0033)
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MVVS_PixelType_BGR16_Packed = (0x004B)
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MVVS_PixelType_RGBA16_Packed = (0x0064)
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MVVS_PixelType_BGRA16_Packed = (0x0051)
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MVVS_PixelType_RGB10V1_Packed = (0x001C)
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MVVS_PixelType_RGB10V2_Packed = (0x001D)
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MVVS_PixelType_RGB12V1_Packed = (0X0034)
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MVVS_PixelType_RGB565_Packed = (0x0035)
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MVVS_PixelType_BGR565_Packed = (0X0036)
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MVVS_PixelType_YUV411_Packed = (0x001E)
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MVVS_PixelType_YUV422_Packed = (0x001F)
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MVVS_PixelType_YUV422_YUYV_Packed = (0x0032)
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MVVS_PixelType_YUV444_Packed = (0x0020)
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MVVS_PixelType_YCBCR8_CBYCR = (0x003A)
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MVVS_PixelType_YCBCR422_8 = (0x003B)
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MVVS_PixelType_YCBCR422_8_CBYCRY = (0x0043)
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MVVS_PixelType_YCBCR411_8_CBYYCRYY = (0x003C)
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MVVS_PixelType_YCBCR601_8_CBYCR = (0x003D)
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MVVS_PixelType_YCBCR601_422_8 = (0x003E)
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MVVS_PixelType_YCBCR601_422_8_CBYCRY = (0x0044)
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MVVS_PixelType_YCBCR601_411_8_CBYYCRYY = (0x003F)
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MVVS_PixelType_YCBCR709_8_CBYCR = (0x0040)
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MVVS_PixelType_YCBCR709_422_8 = (0x0041)
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MVVS_PixelType_YCBCR709_422_8_CBYCRY = (0x0045)
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MVVS_PixelType_YCBCR709_411_8_CBYYCRYY = (0x0042)
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MVVS_PixelType_RGB8_Planar = (0x0021)
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MVVS_PixelType_RGB10_Planar = (0x0022)
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MVVS_PixelType_RGB12_Planar = (0x0023)
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MVVS_PixelType_RGB16_Planar = (0x0024)
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MVVS_PixelType_Jpeg = (0x0001)
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class MV_VS_DATA(Structure):
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_fields_ = [
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("pImage", POINTER(c_char)), # Pointer of Image
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("nImageLen", c_uint), # The Length of Image
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("nImageWidth", c_uint), # Image Width
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("nImageHeight", c_uint), # Image Height
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("nImageNum", c_uint64), # Image Number
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("enPixelType", c_int), # Pixel Type (assuming MvVSGvspPixelType is an enum)
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("nDevTimeStampHigh", c_uint), # Timestamp high 32 bits
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("nDevTimeStampLow", c_uint), # Timestamp low 32 bits
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("nReserved0", c_uint), # Reserved, 8-byte aligned
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("nHostTimeStamp", c_int64), # Host-generated timestamp
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("pChunkData", POINTER(c_char)), # Chunk data
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("nChunkDataLen", c_uint), # Chunk Length
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("nReserved", c_uint * 64), # Reserved
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]
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class MV_VS_DEVICE_INFO(ctypes.Structure):
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_fields_ = [
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("nMajorVer", ctypes.c_ushort), # GigE protocol Major Version
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("nMinorVer", ctypes.c_ushort), # GigE protocol Minor Version
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("nMacAddrHigh", ctypes.c_uint), # High MAC Address
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("nMacAddrLow", ctypes.c_uint), # Low MAC Address
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("nIpCfgOption", ctypes.c_uint), # Supported IP Configuration Options
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("nIpCfgCurrent", ctypes.c_uint), # IP Configuration
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("nCurrentIp", ctypes.c_uint), # Current IP
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("nCurrentSubNetMask", ctypes.c_uint), # Current Subnet Mask
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("nDefultGateWay", ctypes.c_uint), # Current Gateway
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("chManufacturerName", ctypes.c_char * 32), # Manufacturer Name
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("chModelName", ctypes.c_char * 32), # Model Name
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("chDeviceVersion", ctypes.c_char * 32), # Device Version
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("chManufacturerSpecificInfo", ctypes.c_char * 48), # Manufacturer Specific Info
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("chSerialNumber", ctypes.c_char * 16), # Serial Number
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("chUserDefinedName", ctypes.c_char * 16), # User Defined Name
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("nNetExport", ctypes.c_uint), # IP address of connected network port
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("nReserved", ctypes.c_uint * 8), # Reserved
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]
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class MV_VS_DEVICE_INFO_LIST(ctypes.Structure):
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_fields_ = [
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("nDeviceNum", ctypes.c_uint), # Online Device Number
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("pDeviceInfo", ctypes.POINTER(MV_VS_DEVICE_INFO) * MV_MAX_DEVICE_NUM), # Device info array
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]
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# Define function signatures
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mv_lib.MV_VS_GetResultData.argtypes = [c_void_p, POINTER(MV_VS_DATA), c_int]
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mv_lib.MV_VS_GetResultData.restype = c_int
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mv_lib.MV_VS_ReleaseResultData.argtypes = [ctypes.c_void_p, ctypes.POINTER(MV_VS_DATA)]
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mv_lib.MV_VS_ReleaseResultData.restype = ctypes.c_int
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mv_lib.MV_VS_EnumDevices.argtypes = [POINTER(MV_VS_DEVICE_INFO_LIST)]
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mv_lib.MV_VS_EnumDevices.restype = c_int
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mv_lib.MV_VS_CreateHandle.argtypes = [POINTER(c_void_p), c_void_p] # Assuming pHandle is a void* and pstDeviceInfo is a struct
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mv_lib.MV_VS_CreateHandle.restype = c_int
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mv_lib.MV_VS_Login.argtypes = [c_void_p, c_char_p, c_char_p]
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mv_lib.MV_VS_Login.restype = c_int
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mv_lib.MV_VS_SetBoolValue.argtypes = [c_void_p, c_char_p, c_bool]
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mv_lib.MV_VS_SetBoolValue.restype = c_int
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mv_lib.MV_VS_SetEnumValue.argtypes = [c_void_p, c_char_p, c_uint]
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mv_lib.MV_VS_SetEnumValue.restype = c_int
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mv_lib.MV_VS_StartRun.argtypes = [c_void_p] # handle
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mv_lib.MV_VS_StartRun.restype = c_int
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def MV_VS_GetFrame(handle):
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nRet = MV_VS_OK
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stFrameData = MV_VS_DATA()
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nRet = mv_lib.MV_VS_GetResultData(handle, byref(stFrameData), 2000)
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if nRet == MV_VS_OK:
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# Print frame information
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print(
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f"Frame Width: [{stFrameData.nImageWidth}], Height: [{stFrameData.nImageHeight}], ImageLen: [{stFrameData.nImageLen}]")
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# Process chunk data
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currentDataTag = 0
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while stFrameData.nChunkDataLen > currentDataTag:
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chunkLength = \
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struct.unpack_from("<I", stFrameData.pChunkData, stFrameData.nChunkDataLen - 4 - currentDataTag)[0]
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chunkID = struct.unpack_from("<I", stFrameData.pChunkData, stFrameData.nChunkDataLen - 8 - currentDataTag)[
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0]
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print(f"chunkLength [{chunkLength}], chunkID: [{chunkID}]")
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if chunkLength <= 0 or chunkLength > stFrameData.nChunkDataLen - 8 - currentDataTag:
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# Handle exception
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break
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if chunkID == CHUNK_RESULT_PORT: # Result data in JSON format
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chResultInfo = ctypes.cast(
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stFrameData.pChunkData + (stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag),
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ctypes.POINTER(ctypes.c_char))
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print(f"chResultInfo [{chResultInfo.value.decode()}] end")
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elif chunkID == CHUNK_MASK_IMAGE_PORT: # Mask image data
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maskModID = struct.unpack_from("<I", stFrameData.pChunkData,
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stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag)[0]
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maskModFormat = struct.unpack_from("<I", stFrameData.pChunkData,
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stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 4)[0]
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maskModWidth = struct.unpack_from("<I", stFrameData.pChunkData,
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stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 8)[0]
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maskModHeight = struct.unpack_from("<I", stFrameData.pChunkData,
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stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 12)[0]
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print(
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f"Mask ModID[{maskModID}], ModFormat[{maskModFormat}], ModWidth[{maskModWidth}], ModHeight[{maskModHeight}], ")
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chMaskModImageData = ctypes.cast(
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stFrameData.pChunkData + (stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 16),
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ctypes.POINTER(ctypes.c_char))
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print(f"Mask data length [{chunkLength - 16}]")
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currentDataTag += 8 + chunkLength
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else:
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print(f"Get frame buffer fail! nRet [0x{nRet:x}]")
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# Release frame buffer
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nRet = mv_lib.MV_VS_ReleaseResultData(handle, ctypes.byref(stFrameData))
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if nRet != MV_VS_OK:
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print(f"Release frame buffer fail! nRet [0x{nRet:x}]")
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else:
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print(f"MV_VS_GetResultData fail! nRet [0x{nRet & 0xFFFFFFFF:x}]")
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