class RemoteCamera:
def __init__(self, address, port=10000, xform=None):
self.raw = RemoteRawCamera(address, port)
self.xform = xform or se3.identity()
def read(self, clean=True):
(color, cloud, depth_uv, inverse_uv) = self.raw.read()
# flip everything up/down based on camera mounting
color = color[::-1,:,:]
cloud = cloud[::-1,:,:]
if depth_uv is not None:
depth_uv = depth_uv[::-1,:,:]
if inverse_uv is not None:
inverse_uv = inverse_uv[::-1,:,:]
# the point cloud and the depth UV map actually need to have their values changed
# because the Y spatial direction is reversed
cloud[:,:,1] *= -1
if depth_uv is not None:
depth_uv[:,:,1] = 1 - depth_uv[:,:,1]
if inverse_uv is not None:
inverse_uv[:,:,1] = 1 - inverse_uv[:,:,1]
# convert point cloud to meters
cloud /= 1000
# compute the invalid mask early because world coordinates make
# the z = 0 invalid points non-zero
self.mask = invalid_mask(cloud) & (cloud[:,:,2] < 0.70)
# apply the camera xform
cloud = cloud.dot(numpy.array(self.xform[0]).reshape((3, 3))) + self.xform[1]
self.color = color
self.cloud = cloud
self.depth_uv = depth_uv
self.inverse_uv = inverse_uv
return (color, cloud, depth_uv, inverse_uv)
def clean(self):
return (self.mask, self.cloud[self.mask])
def colorize(self):
if self.depth_uv is not None:
colorized = uvtexture(self.color, self.depth_uv)
return colorized
else:
return None
def close(self):
self.raw.close()
class RemoteCamera:
def __init__(self, address, port=10000, xform=None):
self.raw = RemoteRawCamera(address, port)
self.xform = xform or se3.identity()
def read(self, clean=True):
(color, cloud, depth_uv, inverse_uv) = self.raw.read()
# flip everything up/down based on camera mounting
color = color[::-1, :, :]
cloud = cloud[::-1, :, :]
if depth_uv is not None:
depth_uv = depth_uv[::-1, :, :]
if inverse_uv is not None:
inverse_uv = inverse_uv[::-1, :, :]
# the point cloud and the depth UV map actually need to have their values changed
# because the Y spatial direction is reversed
cloud[:, :, 1] *= -1
if depth_uv is not None:
depth_uv[:, :, 1] = 1 - depth_uv[:, :, 1]
if inverse_uv is not None:
inverse_uv[:, :, 1] = 1 - inverse_uv[:, :, 1]
# convert point cloud to meters
cloud /= 1000
# compute the invalid mask early because world coordinates make
# the z = 0 invalid points non-zero
self.mask = invalid_mask(cloud) & (cloud[:, :, 2] < 0.70)
# apply the camera xform
cloud = cloud.dot(numpy.array(self.xform[0]).reshape((3, 3))) + self.xform[1]
self.color = color
self.cloud = cloud
self.depth_uv = depth_uv
self.inverse_uv = inverse_uv
return (color, cloud, depth_uv, inverse_uv)
def clean(self):
return (self.mask, self.cloud[self.mask])
def colorize(self):
if self.depth_uv is not None:
colorized = uvtexture(self.color, self.depth_uv)
return colorized
else:
return None
def close(self):
self.raw.close()
def __init__(self, address, port=10000, xform=None):
self.raw = RemoteRawCamera(address, port)
self.xform = xform or se3.identity()
def __init__(self, address, port=10000, xform=None):
self.raw = RemoteRawCamera(address, port)
self.xform = xform or se3.identity()
