def triggerframe(self, request, context):
self.__pcins.captureframe()
self.__width = self.__pcins.getframewidth()
self.__height = self.__pcins.getframeheight()
self.__hasframe = True
return pxmsg.Empty()
def getnormals(self):
"""
get the the normals of the pointcloudas an array
:return: np.array n-by-3
author: weiwei
date: 20191208
"""
nrmls = self.stub.getnormals(pxmsg.Empty())
return np.frombuffer(nrmls.points).reshape((-1, 3))
def getpcd(self):
"""
get the full poind cloud of a new frame as an array
:return: np.array point cloud n-by-3
author: weiwei
date: 20191202
"""
pcd = self.stub.getpcd(pxmsg.Empty())
return np.frombuffer(pcd.points).reshape((-1, 3))
def gettextureimg(self):
"""
get gray image as an array
:return: a textureHeight*textureWidth*1 np array
author: weiwei
date: 20191202
"""
txtreimg = self.stub.gettextureimg(pxmsg.Empty())
txtrenparray = self.__unpackarraydata(txtreimg)
maxvalue = np.amax(txtrenparray)
txtrenparray = txtrenparray / maxvalue * 255
return txtrenparray.astype(np.uint8)
def getdepthimg(self):
"""
get depth image as an array
:return: a depth array array (float32)
author: weiwei
date: 20191202
"""
depthimg = self.stub.getdepthimg(pxmsg.Empty())
depthnparray = self.__unpackarraydata(depthimg)
depthnparray_float32 = copy.deepcopy(depthnparray)
# depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depthnparray, alpha=0.08), cv2.COLORMAP_JET)
# convert float32 deptharray to unit8
# maxdepth = np.max(depthnparray)
# mindepth = np.min(depthnparray[depthnparray != 0])
# depthnparray[depthnparray!=0] = (depthnparray[depthnparray!=0]-mindepth)/maxdepth*200+55
# depthnparray = depthnparray.astype(dtype= np.uint8)
# depthnparray_scaled = copy.deepcopy(depthnparray)
return depthnparray_float32
def triggerframe(self):
self.stub.triggerframe(pxmsg.Empty())
def getrgbtextureimg(self):
rgbtxtimg = self.stub.getrgbtextureimg(pxmsg.Empty())
rgbtxtnparray = self._unpackarraydata(rgbtxtimg)
return rgbtxtnparray.astype(np.uint8)[:, :, ::-1]