def main():
pipeline, aline = measure_conf.config()
only_get_pc_thread = threading.Thread(target=only_get_pc,
args=(
pipeline,
aline,
))
only_get_pc_thread.start()
try:
while True:
print('main process. main thread.')
start = time.time()
#location = module_gps.get_location()
location = {"lat": 1.0, "lon": 3.0}
time.sleep(1)
depth_image = measure_pc_to_csv_temp.measure_pc(pipeline, aline)
# メタデータ生成
meta = {
'time': time.time(),
'depth_image': depth_image,
'location': {
'lat': location["lat"],
'lon': location["lon"]
},
'result': None
}
q.put(meta)
elapsed_time = time.time() - start
print(f'1周の所要時間:{elapsed_time}\n')
except KeyboardInterrupt:
print('点群/位置情報取得プログラムを終了します.')
pipeline.stop()
def main(q):
pipeline, aline = measure_conf.config()
try:
while True:
print('main process...')
start = time.time()
depth_image = measure_pc_to_csv_temp.measure_pc(pipeline, aline)
# json生成
depth = {
'time': time.time(),
'depth_image': depth_image,
'result': None
}
q.put(depth)
print(f'main process queue size: {q.qsize()}')
elapsed_time = time.time() - start
print(f'1周の所要時間:{elapsed_time}\n')
#time.sleep(2)
except KeyboardInterrupt:
print('点群/位置情報取得プログラムを終了します.')
pipeline.stop()
def main():
global buf, data_store_flag, buf_index, store_index
print("realsense setup...")
pipeline, aline = measure_conf.config()
try:
while True:
start = time.time()
depth_image = measure_pc_to_csv_temp.measure_pc(pipeline, aline)
# dict生成
depth = {
'time': time.time(),
'depth_image': depth_image,
'result': None
}
# 保存処理
buf[buf_index].append(depth)
print(f'現在のbuf_index: {buf_index}')
print(
f'0: {len(buf[0])}, 1: {len(buf[1])}, 2: {len(buf[2])}, 3: {len(buf[3])}, 4: {len(buf[4])}'
)
if len(buf[buf_index]) >= 5:
data_store_flag[buf_index] = True
print(data_store_flag)
#sub_thread = threading.Thread(target=sub_thread, args=(buf_index, store_index))
#sub_thread.start()
if buf_index != 4:
buf_index += 1
else:
buf_index = 0
elapsed_time = time.time() - start
print(f'1周の所要時間:{elapsed_time}\n')
time.sleep(1)
except KeyboardInterrupt:
print('深度情報取得プログラムを終了します.')
pipeline.stop()
def main():
print("realsense setup...")
pipeline, aline = measure_conf.config()
try:
while True:
start = time.time()
depth_image_ndarray = measure_pc_to_csv_temp.measure_pc(
pipeline, aline)
# dict生成
depth = {
'time': time.time(),
'depth_image': depth_image_ndarray,
'result': None
}
# 保存処理
d = ''.join(map(str, depth_image_ndarray))
file_ssd.write(d)
elapsed_time = time.time() - start
print(f'1周の所要時間:{elapsed_time}\n')
except KeyboardInterrupt:
print('深度情報取得プログラムを終了します.')
pipeline.stop()
queue_data = q.get()
if queue_data == 'sleep':
print('5秒待ちます...')
time.sleep(5)
else:
if ('location' not in queue_data):
print(queue_data["time"])
print("成功！！！！")
else:
process_after_getting_pc.operate(queue_data)
print('pc and location add...')
print('sub threadを終了します.')
sys.exit(0)
pipeline, aline = measure_conf.config()
q = Queue()
q.put('sleep')
sub_process = threading.Thread(target=sub_thread, args=(q, ))
sub_thread.start()
def ndarray_to_csv(file_name, ndarray):
with open(file_name, 'w') as f:
writer = csv.writer(f)
for value in ndarray:
writer.writerow(value)
print('change depth array to csv')
try: