def main():
def callback(frame, depth, fps):
# Normalize the depth for representation
min, max = depth.min(), depth.max()
depth = np.uint8(255 * (depth - min) / (max - min))
# Unable to retrieve correct frame, it's still depth here
put_text(frame, "{1}x{0}".format(*frame.shape), Gravity.TOP_LEFT)
put_text(depth, "{1}x{0}".format(*depth.shape), Gravity.TOP_LEFT)
put_text(depth, "%.1f" % fps, Gravity.TOP_RIGHT)
cv2.imshow('frame', frame)
cv2.imshow('depth', depth)
with Camera(cv2.CAP_OPENNI2) as cam:
print("Camera: %dx%d, %d" %
(cam.get(cv2.CAP_OPENNI_IMAGE_GENERATOR +
cv2.CAP_PROP_FRAME_WIDTH),
cam.get(cv2.CAP_OPENNI_IMAGE_GENERATOR +
cv2.CAP_PROP_FRAME_HEIGHT),
cam.get(cv2.CAP_OPENNI_IMAGE_GENERATOR + cv2.CAP_PROP_FPS)))
cam.capture(callback, False)
cv2.destroyAllWindows()
def setUpClass(cls):
serino = "MDEVICE"
#serino = "56c051e1"
if len(sys.argv) > 1:
serino = sys.argv[1]
cls.mod = Camera(serino, "Camera")
cls.mod_cfg = GetConfigs("Camera")
cls.mod.test_times = 0
cls.mod.dicttesttimes = cls.mod_cfg.get_test_times()
for test_time in cls.mod.dicttesttimes:
cls.mod.test_times += int(cls.mod.dicttesttimes[test_time])
def read_camera_params(extrinsic_data_path, camera_data_path):
"""Read camera's parameters.
:param extrinsic_data_path: path of the extrinsic data
:param camera_data_path: path of the camera's data
:return: camera's params
:rtype: Camera
"""
extrinsic_data = np.load(extrinsic_data_path)
rotation_matrix = extrinsic_data['rotationMatrix']
translation_vector = extrinsic_data['translationVector']
camera_data = np.load(camera_data_path)
intrinsic_matrix = camera_data['IntrinsicMatrix']
return Camera(rotation_matrix, translation_vector, intrinsic_matrix)
def __init__(self, device, mod):
self.device = connect_device(device)
self.logger = createlogger(mod)
self.log_path = create_folder()
self.camera = Camera(self.device, "task_camera")
self.product = Configs("common").get("product", "Info")
if self.product == "Sprints":
from common.chrome import Chrome
self.browser = Chrome(self.device, "task_browser")
else:
self.browser = Browser(self.device, "Browser")
self.tel = Telephony(self.device, "task_tel")
self.message = Message(self.device, "task_message")
self.settings = Settings(self.device, "switch_nw")
self.suc_times = 0
self.mod_cfg = GetConfigs(mod)
self.test_times = 0
self.dicttesttimes = self.mod_cfg.get_test_times()
for test_time in self.dicttesttimes:
self.test_times += int(self.dicttesttimes[test_time])
self.test_times = self.test_times * 2 + 4
self.logger.info("Trace Total Times " + str(self.test_times))
y0, ys = s["ys"]
xvec = np.array(s['translation_x'])
yvec = np.array(s['translation_y'])
def idx(x,y):
return y+x*ys
#return x+y*xs
print([idx(x,0) for x in xrange(xs)])
cameras = {idx(x,y): Camera(idx(x,y),{
'x':x,'y':y,
'distortion':s['distortion'],
'distortion-depth':s['distortion-depth'],
'kalibration':s['kalibration'],
'kalibration-depth':s['kalibration-depth'],
'rotation':s['rotation'],
'translation':np.array(s['translation']) + x*xvec + y*yvec,
'img_file':s['img_file'].format(s['camera_id'],idx(x,y)),
'img_directory':args.rgb,
'depth_file':s['depth_file'].format(s['camera_id'],idx(x,y)),
'depth_directory':args.depth
}) for x in xrange(xs) for y in xrange(ys)}
else:
with open('cameraSettings.json') as file:
camera_settings = json.load(file)
cameras = {id: Camera(id,settings) for id,settings in enumerate(camera_settings)}
xyCamera = {(c.x,c.y) : c for id,c in cameras.items()}
n, m, k = xs, args.m, args.k
dibrCams = {}
cameras = {
idx(x, y): Camera(
idx(x, y), {
'x':
x,
'y':
y,
'distortion':
s['distortion'] if 'distortion' in s else None,
'distortion-depth':
s['distortion-depth'] if 'distortion-depth' in s else None,
'kalibration':
s['kalibration'],
'kalibration-depth':
s['kalibration-depth']
if 'kalibration-depth' in s else s['kalibration'],
'rotation':
s['rotation'],
'translation':
np.array(s['translation']) + x * xvec + y * yvec,
'img_file':
s['img_file'].format(s['camera_id'], idx(x, y)),
'img_directory':
args.rgb,
'depth_file':
s['depth_file'].format(s['camera_id'], idx(x, y)),
'depth_directory':
args.depth
})
for x in xrange(xs) for y in xrange(ys)
}
