def read_once(self, limb, unit='meter', Nx3_cloud=False, clean=None):
while True:
try:
if limb=='right':
camera = RemoteCamera(RIGHT_CAMERA_IP, 30000)
elif limb=='left':
camera = RemoteCamera(LEFT_CAMERA_IP, 30000)
else:
raise Exception('Unrecognized limb '+str(limb))
color, cloud, depth_uv, color_uv = camera.read()
camera.close()
break
except:
print 'Camera Connection Error. Retry in 1 second...'
time.sleep(1)
print 'image taken'
if unit in ['meter', 'm']:
cloud /= 1000
elif unit in ['centimeter', 'centi-meter', 'cm']:
cloud = cloud
else:
raise Exception('Unrecognized unit '+str(unit))
if Nx3_cloud:
cloud = cloud.reshape(-1, 3)
if Nx3_cloud:
assert clean is not None, 'clean must be a boolean when Nx3_cloud is True'
if clean:
keep_idxs = np.where(cloud[:,2].flatten()!=0)[0]
cloud = cloud[keep_idxs,:]
return color, cloud, depth_uv, color_uv
def read_average_depth(self, ite=10, unit='meter'):
camera = RemoteCamera('10.236.66.147', 30000)
all_depth = np.zeros((480, 640, ite))
for i in xrange(ite):
all_depth[:,:,i] = camera.read()[1][:,:,2] # [1] to index cloud, [:,:,2] to index z axis
camera.close()
all_depth[all_depth==0]=np.nan
depth_avg = np.nanmean(all_depth, axis=2)
print 'Shape of average depth is', depth_avg.shape
if unit in ['meter', 'm']:
depth_avg /= 1000
elif unit in ['centimeter', 'centi-meter', 'cm']:
depth_avg = depth_avg
else:
raise Exception('Unrecognized unit '+str(unit))
return depth_avg
def read_once(self, unit='meter', Nx3_cloud=False, clean=None):
camera = RemoteCamera('10.236.66.147', 30000)
color, cloud, depth_uv, color_uv = camera.read()
camera.close()
if unit in ['meter', 'm']:
cloud /= 1000
elif unit in ['centimeter', 'centi-meter', 'cm']:
cloud = cloud
else:
raise Exception('Unrecognized unit '+str(unit))
if Nx3_cloud:
cloud = cloud.reshape(-1, 3)
if Nx3_cloud:
assert clean is not None, 'clean must be a boolean when Nx3_cloud is True'
if clean:
keep_idxs = np.where(cloud[:,2].flatten()!=0)[0]
cloud = cloud[keep_idxs,:]
return color, cloud, depth_uv, color_uv
def read_once(self, limb, unit='meter', Nx3_cloud=False, clean=None, index=None):
while True:
try:
if limb=='right':
camera = RemoteCamera(RIGHT_CAMERA_IP, 30000)
elif limb=='left':
camera = RemoteCamera(LEFT_CAMERA_IP, 30000)
elif limb == None:
if index == None:
raise Exception('Limb cannot be none when camera index is also none')
else:
#print 'Camera IP is ', CAMERA_IP[index]
camera = RemoteCamera(CAMERA_IP[index], 30000)
else:
raise Exception('Unrecognized limb '+str(limb))
color, cloud, depth_uv, color_uv = camera.read()
camera.close()
#print 'camera closed'
break
except Exception, err:
print err
print 'Camera Connection Error. Retry in 1 second...'
time.sleep(1)
def read_cloud_avg(self, ite=10, unit='meter', Nx3_cloud=False, clean=None):
camera = RemoteCamera('10.236.66.147', 30000)
all_cloud = np.zeros((480, 640, 3, ite))
for i in xrange(ite):
all_cloud[:,:,:,i] = camera.read()[1] # [1] to index cloud
camera.close()
all_cloud[all_cloud==0]=np.nan
cloud_avg = np.nanmean(all_cloud, axis=3)
print 'Shape of average cloud is', cloud_avg.shape
if unit in ['meter', 'm']:
cloud_avg /= 1000
elif unit in ['centimeter', 'centi-meter', 'cm']:
cloud_avg = cloud_avg
else:
raise Exception('Unrecognized unit '+str(unit))
if Nx3_cloud:
cloud_avg = cloud_avg.reshape(-1, 3)
if Nx3_cloud:
assert clean is not None, 'clean must be a boolean when Nx3_cloud is True'
if clean:
keep_idxs = np.where(cloud_avg[:,2].flatten()!=np.nan)[0]
cloud_avg = cloud_avg[keep_idxs,:]
return cloud_avg
