def create_source(source_type=SourceTypes.ros_kinect, *args, **kwargs):
from image_pipeline.io.source import create_source
#extend this dict as necessary
source = {SourceTypes.ros_bag:('image_pipeline', 'BagReader'),
SourceTypes.ros_kinect:('image_pipeline', 'KinectReader'),
SourceTypes.openni:('image_pipeline', 'OpenNISource'),
}
return create_source(*source[source_type], **kwargs)
parser = argparse.ArgumentParser(
description='Saves images from a connect on keystroke.')
parser.add_argument('-o,--output',
dest='output',
help='The output directory. Default: %(default)s',
default='./images')
#ecto options
scheduler_options(parser.add_argument_group('Scheduler Options'))
args = parser.parse_args()
if not os.path.exists(args.output):
os.makedirs(args.output)
source = create_source(
package_name='image_pipeline',
source_type='OpenNISource') #optionally pass keyword args here...
depth_saver = ecto.If(
'depth saver',
cell=ImageSaver(
filename_format=os.path.join(args.output, 'depth%04d.png')))
image_saver = ecto.If(
'rgb saver',
cell=ImageSaver(
filename_format=os.path.join(args.output, 'image%04d.png')))
display = imshow(name='RGB', triggers=dict(save=ord('s')))
plasm = ecto.Plasm()
plasm.connect(
from ecto.opts import run_plasm, scheduler_options
import argparse
import sys
import os
parser = argparse.ArgumentParser(description='Saves images from a connect on keystroke.')
parser.add_argument('-o,--output', dest='output', help='The output directory. Default: %(default)s', default='./images')
#ecto options
scheduler_options(parser.add_argument_group('Scheduler Options'))
args = parser.parse_args()
if not os.path.exists(args.output):
os.makedirs(args.output)
source = create_source(package_name='image_pipeline', source_type='OpenNISource') #optionally pass keyword args here...
depth_saver = ecto.If('depth saver', cell=ImageSaver(filename_format=os.path.join(args.output, 'depth%04d.png')))
image_saver = ecto.If('rgb saver', cell=ImageSaver(filename_format=os.path.join(args.output, 'image%04d.png')))
display = imshow(name='RGB', triggers=dict(save=ord('s')))
plasm = ecto.Plasm()
plasm.connect(source['image'] >> (display['image'], image_saver['image']),
source['depth'] >> (imshow(name='Depth')['image'], depth_saver['image']),
display['save'] >> (image_saver['__test__'], depth_saver['__test__'])
)
run_plasm(args, plasm, locals=vars())