def find_device_that_supports_advanced_mode() :
ctx = rs.context()
ds5_dev = rs.device()
devices = ctx.query_devices()
for dev in devices:
if dev.supports(rs.camera_info.product_id) and str(dev.get_info(rs.camera_info.product_id)) in ["0AD1", "0AD2", "0AD3", "0AD4", "0AD5", "0AF6", "0AFE", "0AFF", "0B00", "0B01", "0B03", "0B07"]:
if dev.supports(rs.camera_info.name):
print("Found device that supports advanced mode:", dev.get_info(rs.camera_info.name))
return dev
raise Exception("No device that supports advanced mode was found")
def find_device_that_supports_advanced_mode() :
ctx = rs.context()
ds5_dev = rs.device()
devices = ctx.query_devices();
for dev in devices:
if dev.supports(rs.camera_info.product_id) and str(dev.get_info(rs.camera_info.product_id)) in DS5_product_ids:
if dev.supports(rs.camera_info.name):
print("Found device that supports advanced mode:", dev.get_info(rs.camera_info.name))
return dev
raise Exception("No device that supports advanced mode was found")
def find_device_that_supports_advanced_mode() :
ctx = rs.context()
ds5_dev = rs.device()
devices = ctx.query_devices();
for dev in devices:
if dev.supports(rs.camera_info.product_id) and str(dev.get_info(rs.camera_info.product_id)) in DS5_product_ids:
if dev.supports(rs.camera_info.name):
print("Found device that supports advanced mode:", dev.get_info(rs.camera_info.name))
return dev
raise Exception("No device that supports advanced mode was found")
def main():
# Initialize the camera capture objects.
# Get one output directory per view.
rospy.init_node("data_collection", disable_signals=True)
try:
ctx = rs.context()
ds5_dev = rs.device()
devices = ctx.query_devices()
# device_ids = ['817612071456', '819112072363', '801212070655'] # Manuela's lab USB IDs
device_ids = ['817612071456', '826212070528', '826212070219']
# device_indices = ['1', '2', '3']
device_indices = ['2']
collect_n_pictures_parallel(device_indices, args.num_pics)
except KeyboardInterrupt:
print("Make videos..")
assert len(GLOBAL_DEPTH_BUFFER) == len(GLOBAL_IMAGE_BUFFER)
view_dirs, vid_paths, debug_path, seqname, view_dirs_depth, depth_paths, debug_path_depth = setup_paths_w_depth(
)
offsets = []
for view_idx, vid_path in enumerate(vid_paths):
if not os.path.exists(vid_paths[view_idx].strip('.mp4')):
os.makedirs(vid_paths[view_idx].strip('.mp4'))
if not os.path.exists(depth_paths[view_idx].strip('.mp4')):
os.makedirs(depth_paths[view_idx].strip('.mp4'))
files = sorted(os.listdir(vid_path.strip('.mp4')))
offsets.append(int(len(files) / 2))
for t in range(0, len(GLOBAL_DEPTH_BUFFER)):
stacked_images = GLOBAL_IMAGE_BUFFER[t][0][:, :, ::-1]
for view_idx in range(len(device_indices)):
cv2.imwrite(
os.path.join(vid_paths[view_idx].strip('.mp4'),
'{0:06d}.png'.format(t + offsets[view_idx])),
GLOBAL_IMAGE_BUFFER[t][view_idx][:, :, ::-1])
cv2.imwrite(
os.path.join(depth_paths[view_idx].strip('.mp4'),
'{0:06d}.png'.format(t + offsets[view_idx])),
GLOBAL_DEPTH_BUFFER[t][view_idx].astype(np.uint8))
np.save(
os.path.join(vid_paths[view_idx].strip('.mp4'),
'{0:06d}.npy'.format(t + offsets[view_idx])),
GLOBAL_PIXEL_BUFFER[t][view_idx])
for p, q in zip(vid_paths, depth_paths):
print('Writing final color picture to: %s' % p.strip('.mp4'))
print('Writing final depth picture to: %s' % q.strip('.mp4'))
try:
sys.exit(0)
except SystemExit:
os._exit(0) # pylint: disable=protected-access
def main():
# Initialize the camera capture objects.
# Get one output directory per view.
rospy.init_node("data_collection", disable_signals=True)
rospy.sleep(1)
ctx = rs.context()
ds5_dev = rs.device()
devices = ctx.query_devices()
# device_ids = ['817612071456', '819112072363', '801212070655'] # Manuela's lab USB IDs
device_ids = ['831612072676', '826212070528', '826212070219']
# device_indices = ['1', '2', '3']
for device in devices:
print(device)
device_indices = ['2'] # cross-check with IDs assigned in /home/zhouxian/ros_ws/src/realsense-2.1.0/realsense2_camera/launch/rs_multiple_devices.launch
collect_n_pictures_parallel(device_indices)
print("Save images to file..")
assert len(GLOBAL_DEPTH_BUFFER) == len(GLOBAL_IMAGE_BUFFER)
view_dirs, vid_paths, debug_path, seqname, view_dirs_depth, depth_paths, debug_path_depth = setup_paths_w_depth(args)
offsets = []
if not os.path.exists(vid_paths[0].split('_view')[0]):
os.makedirs(vid_paths[0].split('_view')[0])
if not os.path.exists(depth_paths[0].split('_view')[0]):
os.makedirs(depth_paths[0].split('_view')[0])
for t in range(0, len(GLOBAL_DEPTH_BUFFER)):
stacked_images = GLOBAL_IMAGE_BUFFER[t][0][:,:,::-1]
for view_idx in range(len(device_indices)):
object_name = vid_paths[view_idx].strip('.mp4').split('/')[-1].split('_view')[0]
# if t == 0:
# cv2.imwrite(os.path.join('/'.join(vid_paths[0].strip('.mp4').split('/')[:-2]), 'backgrounds', '{0}_{1:06d}_view{2}.png'.format(object_name, t, view_idx)), GLOBAL_IMAGE_BUFFER[t][view_idx][:,:,::-1])
cv2.imwrite(os.path.join(vid_paths[0].strip('.mp4').split('_view')[0], '{0}_{1:06d}_view{2}.png'.format(object_name, t, view_idx)), GLOBAL_IMAGE_BUFFER[t][view_idx][:,:,::-1])
cv2.imwrite(os.path.join(depth_paths[0].strip('.mp4').split('_view')[0], '{0}_{1:06d}_view{2}.png'.format(object_name, t, view_idx)), GLOBAL_DEPTH_BUFFER[t][view_idx].astype(np.uint8))
for p, q in zip(vid_paths, depth_paths):
print('Writing final color picture to: %s' % p.strip('.mp4'))
print('Writing final depth picture to: %s' % q.strip('.mp4'))
try:
sys.exit(0)
except SystemExit:
os._exit(0) # pylint: disable=protected-access
def find_device_that_supports_advanced_mode():
global device_id
ctx = rs.context()
ds5_dev = rs.device()
devices = ctx.query_devices()
for dev in devices:
if dev.supports(rs.camera_info.product_id) and str(
dev.get_info(rs.camera_info.product_id)) in DS5_product_ids:
name = rs.camera_info.name
if dev.supports(name):
if not camera_name or (
camera_name.lower()
== dev.get_info(name).split()[2].lower()):
progress(
"INFO: Found device that supports advanced mode: %s" %
dev.get_info(name))
device_id = dev.get_info(rs.camera_info.serial_number)
return dev
raise Exception("No device that supports advanced mode was found")
def main():
# Initialize the camera capture objects.
# Get one output directory per view.
rospy.init_node("data_collection", disable_signals=True)
try:
tf_listener = tf.TransformListener()
ctx = rs.context()
ds5_dev = rs.device()
devices = ctx.query_devices()
# device_ids = ['817612071456', '819112072363', '801212070655'] # Manuela's lab USB IDs
device_ids = ['817612071456', '826212070528', '826212070219']
# device_indices = ['1', '2', '3']
#device_indices = ['1', '2']
device_indices = ['2']
collect_images_parallel(device_indices)
except KeyboardInterrupt:
print("Make videos..")
assert len(GLOBAL_DEPTH_BUFFER) == len(GLOBAL_IMAGE_BUFFER)
view_dirs, vid_paths, debug_path, seqname, view_dirs_depth, depth_paths, debug_path_depth = setup_paths_w_depth(
)
# Save baxter joint values
save_baxter_values(limb='right', seqname=seqname)
for view_idx in range(len(device_indices)):
save_tf_frame_values(view_idx,
seqname,
device_indices=device_indices,
tf_listener=tf_listener)
writers = [
imageio.get_writer(vidpath, fps=FPS) for vidpath in vid_paths
]
writers_depth = [
imageio.get_writer(depthpath, fps=FPS) for depthpath in depth_paths
]
writer_debug = imageio.get_writer(debug_path, fps=FPS)
writers_depth_raw = [[]] * len(writers)
for t in range(0, len(GLOBAL_DEPTH_BUFFER)):
stacked_images = GLOBAL_IMAGE_BUFFER[t][0]
for view_idx in range(len(device_indices)):
writers[view_idx].append_data(GLOBAL_IMAGE_BUFFER[t][view_idx])
writers_depth[view_idx].append_data(
GLOBAL_DEPTH_BUFFER[t][view_idx].astype(np.uint8))
writers_depth_raw[view_idx].append(
GLOBAL_DEPTH_RAW_BUFFER[t][view_idx])
if view_idx > 0:
stacked_images = np.concatenate(
[stacked_images, GLOBAL_IMAGE_BUFFER[t][view_idx]],
axis=1)
writer_debug.append_data(stacked_images)
for i, depthpath in enumerate(depth_paths):
np.save(depthpath.split('.mp4')[0] + '.npy', writers_depth_raw[i])
for idx in range(len(writers)):
writers[idx].close()
writers_depth[idx].close()
writer_debug.close()
for p, q in zip(vid_paths, depth_paths):
print('Writing final color video to: %s' % p)
print('Writing final depth video to: %s' % q)
if debug_path:
print('Writing debug video to: %s' % debug_path)
try:
sys.exit(0)
except SystemExit:
os._exit(0) # pylint: disable=protected-access
def do_hardware_reset(self):
rs.device(self.__serial_number).hardware_reset()
def find_device_json_input_interface():
ctx = rs.context()
ds5_dev = rs.device()
dev = ctx.query_devices()
return dev
