import os
import open3d as o3d
import os.path as osp
from rs_utils.io import get_options
from rs_utils.realsense import RealSenseD435
def rotate_view(vis):
"""Rotates the view used in Open3D."""
ctr = vis.get_view_control()
ctr.rotate(10.0, 0.0)
return False
if __name__ == '__main__':
args = get_options()
custom_rs_options = args.is_rsopt
save_pcd_path = osp.join(osp.dirname(__file__), args.pcd_path)
cfg_path = osp.join(osp.dirname(__file__), args.cfg_path)
rs_d435 = RealSenseD435('RGBD', cfg_path, custom_rs_options)
rs_d435.capture_pcd(save_pcd_path)
print("saved " + save_pcd_path)
# visualize saved pcd file
pcd = o3d.io.read_point_cloud(save_pcd_path)
o3d.visualization.draw_geometries_with_animation_callback([pcd],
rotate_view)
#!/usr/bin/env python3
import os
import os.path as osp
from rs_utils.io import get_options
from rs_utils.realsense import RealSenseD435
if __name__ == '__main__':
args = get_options()
save_type = args.save_type
custom_rs_options = args.is_rsopt
in_bag_path = osp.join(osp.dirname(__file__), args.bag_path)
cfg_path = osp.join(osp.dirname(__file__), args.cfg_path)
rs_d435 = RealSenseD435(save_type, cfg_path, custom_rs_options,
in_bag_path)
rs_d435.play_bag()
ctr = vis.get_view_control()
ctr.rotate(10.0, 0.0)
return False
if __name__ == '__main__':
args = get_options()
custom_rs_options = args.is_rsopt
save_pcd_paths = [
osp.join(osp.dirname(__file__),
osp.splitext(args.pcd_path)[0] + '_' + str(i) + '.pcd')
for i in range(args.num_camera)
]
cfg_path = osp.join(osp.dirname(__file__), args.cfg_path)
os.makedirs(os.path.dirname(args.pcd_path), exist_ok=True)
rs_d435 = RealSenseD435('RGBD',
cfg_path,
custom_rs_options,
device_sn=args.device_sn,
num_camera=args.num_camera)
rs_d435.capture_pcd(save_pcd_paths)
for i, savepcdpath in enumerate(save_pcd_paths):
print("displaying " + savepcdpath)
# visualize saved pcd file
pcd = o3d.io.read_point_cloud(save_pcd_paths[i])
o3d.visualization.draw_geometries_with_animation_callback([pcd],
rotate_view)
import os
import os.path as osp
from rs_utils.io import get_options, get_file_paths
from rs_utils.realsense import RealSenseD435
if __name__ == '__main__':
args = get_options()
save_type = args.save_type
bags_dir = osp.join(osp.dirname(__file__), args.indir)
cfg_path = osp.join(osp.dirname(__file__), args.cfg_path)
save_dir = osp.join(osp.dirname(__file__), args.outdir)
if not osp.exists(bags_dir):
print("Not found directory for bag files...")
exit()
os.makedirs(save_dir, exist_ok=True)
bag_paths, bag_names = get_file_paths(bags_dir, 'bag')
for (bag_path, bag_name) in zip(bag_paths, bag_names):
save_img_path_noext = osp.join(save_dir, bag_name)
rs_d435 = RealSenseD435(save_type=save_type,
rs_cfg_path=cfg_path,
in_bag_path=bag_path)
rs_d435.bag2img(save_img_path_noext,
args.imgext,
mode=args.save_mode,
fps=args.save_fps,
is_show=False)