def test_list_sources_single_async():
image_source_a = image_protos.ImageSource()
image_source_b = image_protos.ImageSource()
client, service, server = _setup(
image_sources=[image_source_a, image_source_b])
fut = client.list_image_sources_async()
assert 2 == len(fut.result())
def make_image_source(source_name,
rows=None,
cols=None,
image_type=image_pb2.ImageSource.IMAGE_TYPE_VISUAL):
"""Create an instance of the image_pb2.ImageSource for a given source name.
Args:
name (string): The name for the camera source.
rows (int): The number of rows of pixels in the image.
cols (int): The number of cols of pixels in the image.
image_type (image_pb2.ImageType): The type of image (e.g. visual, depth).
Returns:
An ImageSource with the cols, rows, and image type populated.
"""
source = image_pb2.ImageSource()
source.name = source_name
if rows is not None and cols is not None:
source.rows = rows
source.cols = cols
# Image from the ricoh theta is a JPEG, which is considered a visual image source (no depth data).
source.image_type = image_type
return source
def __init__(self, bosdyn_sdk_robot, theta_ssid, logger=None):
self.robot = bosdyn_sdk_robot
self.robot.time_sync.wait_for_sync()
# Create a service fault client.
self.fault_client = self.robot.ensure_client(FaultClient.default_service_name)
self.clear_faults_on_startup()
# Setup the logger.
self.logger = logger or _LOGGER
# Name of the image source that is being requested from.
self.theta_ssid = theta_ssid
self.device_name = "RicohTheta_"+theta_ssid
# Default value for JPEG image quality, in case one is not provided in the GetImage request.
self.default_jpeg_quality = 95
# Camera related variables. These will get initialized by calling initialize_camera(). If the
# initialization of the camera failed, the service will never get registered with the directory.
# This is done after because if a fault is thrown when attempting to connect to the Ricoh Theta
# on startup, there is likely an issue with the camera connection or hardware, and the service
# will likely to continue to fail until these issues are fixed.
self.camera = None
self.capture_parameters = image_pb2.CaptureParameters()
self.ricoh_image_src_proto = image_pb2.ImageSource()
def make_ricoh_theta_image_source(self):
"""Create an instance of the image_pb2.ImageSource for the Ricoh Theta.
Returns:
An ImageSource with the cols, rows, and image type populated.
"""
source = image_pb2.ImageSource()
source.name = self.device_name
# Request the image format (height, width) from the camera.
format_json = None
try:
format_json = self.camera.getFileFormat(print_to_screen=False)
except Exception as err:
# An issue occurred getting the file format for the camera images. This is likely due
# to upstream failures creating the Theta instance, which already have triggered service
# faults.
_LOGGER.info("Unable to set the image width/height dimensions. Error message: %s %s", str(type(err)), str(err))
pass
if format_json is not None:
source.cols = format_json["width"]
source.rows = format_json["height"]
# Image from the ricoh theta is a JPEG, which is considered a visual image source (no depth data).
source.image_type = image_pb2.ImageSource.IMAGE_TYPE_VISUAL
return source
def make_image_source(device_name="/dev/video0"):
"""Create an instance of the image_pb2.ImageSource and a VideoCapture for that image source.
Args:
device_name(str): The image source name that should be described.
Returns:
An ImageSource with the cols, rows, and image type populated, in addition to an OpenCV VideoCapture
instance which can be used to query the image source for images.
"""
# Defaults to "/dev/video0" for the device name, which will take the first (or only) connected camera.
source = image_pb2.ImageSource()
source.name = device_name_to_source_name(device_name)
capture = cv2.VideoCapture(device_name)
source.cols = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
source.rows = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
source.image_type = image_pb2.ImageSource.IMAGE_TYPE_VISUAL
return source, capture
def test_list_sources_single():
image_source = image_protos.ImageSource()
client, service, server = _setup(image_sources=[image_source])
assert 1 == len(client.list_image_sources())
def test_list_sources_multiple():
image_source_a = image_protos.ImageSource()
image_source_b = image_protos.ImageSource()
client, service, server = _setup(image_sources=[image_source_a, image_source_b])
assert 2 == len(client.list_image_sources())