49 lines
1.8 KiB
Python
49 lines
1.8 KiB
Python
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#!/usr/bin/env python3
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# -*- encoding: utf-8 -*-
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import sys
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import time
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import grpc
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import matplotlib.pyplot as plt
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import numpy as np
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from mpl_toolkits.axes_grid1 import make_axes_locatable
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from proto import GrabSim_pb2
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from proto import GrabSim_pb2_grpc
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channel = grpc.insecure_channel('localhost:30001',options=[
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('grpc.max_send_message_length', 1024*1024*1024),
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('grpc.max_receive_message_length', 1024*1024*1024)
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])
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sim_client = GrabSim_pb2_grpc.GrabSimStub(channel)
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def map_test(map_id=0, scene_num=1):
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initworld = sim_client.Init(GrabSim_pb2.NUL())
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print(sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL()))
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initworld = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id))
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def get_camera(part, scene_id=0):
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action = GrabSim_pb2.CameraList(cameras=part, scene=scene_id)
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return sim_client.Capture(action)
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def show_image(img_data):
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im = img_data.images[0]
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d = np.frombuffer(im.data, dtype=im.dtype).reshape((im.height, im.width, im.channels))
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plt.imshow(d, cmap="gray" if "depth" in im.name.lower() else None)
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plt.show()
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def camera_test(scene_id=0):
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for camera_name in [GrabSim_pb2.CameraName.Head_Color, GrabSim_pb2.CameraName.Head_Depth, GrabSim_pb2.CameraName.Head_Segment]:
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img_data = get_camera([camera_name], scene_id)
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show_image(img_data)
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if __name__ == '__main__':
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map_id = 3 # 地图编号: 0：空房间 1：室内 2:咖啡厅1.0 3: 咖啡厅2.0 4:餐厅 5:养老院 6：会议室
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scene_num = 1 # 场景数量
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map_test(map_id, scene_num) # 场景加载测试
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time.sleep(5)
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for i in range(scene_num):
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print("------------------", i, "----------------------")
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camera_test(i) # 相机操作测试
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