def main():
record = True
plr = Player(colour=True, record=False)
# initialize placeholder point clouds
pc_left = rs.pointcloud()
pc_right = rs.pointcloud()
# create prefix and directories for naming files
current_time = datetime.datetime.now()
prefix = current_time.strftime("%Y-%m-%d:%H:%M")
npy_dir = "data/" + prefix + "/npys/"
ply_dir = "data/" + prefix + "/plys/"
os.makedirs(npy_dir)
os.makedirs(ply_dir)
# initialise counters for naming files
ply_counter = npy_counter = 0
try:
while True:
[frame_left, frame_right] = plr.getFrames()
if not frame_left or not frame_right:
continue
depth_frame_left = frame_left.get_depth_frame()
depth_frame_right = frame_right.get_depth_frame()
depth_color_frame_left = rs.colorizer().colorize(depth_frame_left)
depth_color_frame_right = rs.colorizer().colorize(
depth_frame_right)
# Convert depth_frame to numpy array to render image
depth_color_image_left = np.asanyarray(
depth_color_frame_left.get_data())
depth_color_image_right = np.asanyarray(
depth_color_frame_right.get_data())
depth_color_image = np.hstack(
(depth_color_image_left, depth_color_image_right))
# resize to fit screen, change as desired
image = cv2.resize(depth_color_image, (1440, 720))
# Render image in opencv window
cv2.imshow("Depth Stream", image)
key = cv2.waitKey(1)
# if s is pressed save .npy
if key == ord('s') and not record:
points_left = pc_left.calculate(depth_frame_left)
points_right = pc_right.calculate(depth_frame_right)
np.save(npy_dir + str(npy_counter) + "left",
np.array(points_left.get_vertices()))
print("File saved to " + npy_dir + str(npy_counter) +
"left.npy")
np.save(npy_dir + str(npy_counter) + "right",
np.array(points_right.get_vertices()))
print("File saved to " + npy_dir + str(npy_counter) +
"right.npy")
npy_counter += 1
if record:
# convert and save left file
points_left = pc_left.calculate(depth_frame_left)
points_left = np.array(points_left.get_vertices())
# print(points_left.shape)
points_left = points_left[np.nonzero(points_left)]
np.save(npy_dir + str(npy_counter) + "left", points_left)
print("File saved to " + npy_dir + str(npy_counter) +
"left.npy")
# convert and save right file
points_right = pc_right.calculate(depth_frame_right)
points_right = np.array(points_right.get_vertices())
points_right = points_right[np.nonzero(points_right)]
np.save(npy_dir + str(npy_counter) + "right", points_right)
print("File saved to " + npy_dir + str(npy_counter) +
"right.npy")
npy_counter += 1
if npy_counter > 200:
raise Exception("finished recording")
# time.sleep(0.1)
# if a is pressed save .ply
if key == ord('a'):
color_frame_left = frame_left.get_color_frame()
color_frame_right = frame_right.get_color_frame()
# ply's require a colour mapping
pc_left.map_to(color_frame_left)
pc_right.map_to(color_frame_right)
points_left = pc_left.calculate(depth_frame_left)
points_right = pc_right.calculate(depth_frame_right)
points_left.export_to_ply(
ply_dir + str(ply_counter) + "left.ply", color_frame_left)
print("File saved to " + ply_dir + str(ply_counter) +
"left.ply")
points_right.export_to_ply(
ply_dir + str(ply_counter) + "right.ply",
color_frame_right)
print("File saved to " + ply_dir + str(ply_counter) +
"right.ply")
ply_counter += 1
# if pressed escape exit program
if key == 27:
cv2.destroyAllWindows()
break
finally:
print("Stopping pipelines.")
plr.stop()
print("Compacting files.")
