Update the examples for the B2W and B2 cameras.

example/b2/camera/camera_opencv.py

@@ -0,0 +1,51 @@
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
+from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
+import cv2
+import numpy as np
+import sys
+
+def display_image(window_name, data):
+    # If data is a list, we need to convert it to a bytes object
+    if isinstance(data, list):
+        data = bytes(data)
+    
+    # Now convert to numpy image
+    image_data = np.frombuffer(data, dtype=np.uint8)
+    image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
+    if image is not None:
+        cv2.imshow(window_name, image)
+
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+
+    frontCameraClient = FrontVideoClient()  # Create a front camera video client
+    frontCameraClient.SetTimeout(3.0)
+    frontCameraClient.Init()
+
+    backCameraClient = BackVideoClient()  # Create a back camera video client
+    backCameraClient.SetTimeout(3.0)
+    backCameraClient.Init()
+
+    # Loop to continuously fetch images
+    while True:
+        # Get front camera image
+        front_code, front_data = frontCameraClient.GetImageSample()
+        if front_code == 0:
+            display_image("Front Camera", front_data)
+
+        # Get back camera image
+        back_code, back_data = backCameraClient.GetImageSample()
+        if back_code == 0:
+            display_image("Back Camera", back_data)
+
+        # Press ESC to stop
+        if cv2.waitKey(20) == 27:
+            break
+
+    # Clean up windows
+    cv2.destroyAllWindows()
+

example/b2/camera/capture_image.py

@@ -0,0 +1,51 @@
+import time
+import os
+import sys
+
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
+from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
+
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+
+    # 创建前置相机客户端
+    front_client = FrontVideoClient()
+    front_client.SetTimeout(3.0)
+    front_client.Init()
+
+    # 创建后置相机客户端
+    back_client = BackVideoClient()
+    back_client.SetTimeout(3.0)
+    back_client.Init()
+
+    print("##################Get Front Camera Image###################")
+    # 获取前置相机图像
+    front_code, front_data = front_client.GetImageSample()
+
+    if front_code != 0:
+        print("Get front camera image error. Code:", front_code)
+    else:
+        front_image_name = "./front_img.jpg"
+        print("Front Image Saved as:", front_image_name)
+
+        with open(front_image_name, "+wb") as f:
+            f.write(bytes(front_data))
+
+    print("##################Get Back Camera Image###################")
+    # 获取后置相机图像
+    back_code, back_data = back_client.GetImageSample()
+
+    if back_code != 0:
+        print("Get back camera image error. Code:", back_code)
+    else:
+        back_image_name = "./back_img.jpg"
+        print("Back Image Saved as:", back_image_name)
+
+        with open(back_image_name, "+wb") as f:
+            f.write(bytes(back_data))
+
+    time.sleep(1)

example/b2w/camera/camera_opencv.py

@@ -0,0 +1,51 @@
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
+from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
+import cv2
+import numpy as np
+import sys
+
+def display_image(window_name, data):
+    # If data is a list, we need to convert it to a bytes object
+    if isinstance(data, list):
+        data = bytes(data)
+    
+    # Now convert to numpy image
+    image_data = np.frombuffer(data, dtype=np.uint8)
+    image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
+    if image is not None:
+        cv2.imshow(window_name, image)
+
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+
+    frontCameraClient = FrontVideoClient()  # Create a front camera video client
+    frontCameraClient.SetTimeout(3.0)
+    frontCameraClient.Init()
+
+    backCameraClient = BackVideoClient()  # Create a back camera video client
+    backCameraClient.SetTimeout(3.0)
+    backCameraClient.Init()
+
+    # Loop to continuously fetch images
+    while True:
+        # Get front camera image
+        front_code, front_data = frontCameraClient.GetImageSample()
+        if front_code == 0:
+            display_image("Front Camera", front_data)
+
+        # Get back camera image
+        back_code, back_data = backCameraClient.GetImageSample()
+        if back_code == 0:
+            display_image("Back Camera", back_data)
+
+        # Press ESC to stop
+        if cv2.waitKey(20) == 27:
+            break
+
+    # Clean up windows
+    cv2.destroyAllWindows()
+

example/b2w/camera/capture_image.py

@@ -0,0 +1,51 @@
+import time
+import os
+import sys
+
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
+from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
+
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+
+    # 创建前置相机客户端
+    front_client = FrontVideoClient()
+    front_client.SetTimeout(3.0)
+    front_client.Init()
+
+    # 创建后置相机客户端
+    back_client = BackVideoClient()
+    back_client.SetTimeout(3.0)
+    back_client.Init()
+
+    print("##################Get Front Camera Image###################")
+    # 获取前置相机图像
+    front_code, front_data = front_client.GetImageSample()
+
+    if front_code != 0:
+        print("Get front camera image error. Code:", front_code)
+    else:
+        front_image_name = "./front_img.jpg"
+        print("Front Image Saved as:", front_image_name)
+
+        with open(front_image_name, "+wb") as f:
+            f.write(bytes(front_data))
+
+    print("##################Get Back Camera Image###################")
+    # 获取后置相机图像
+    back_code, back_data = back_client.GetImageSample()
+
+    if back_code != 0:
+        print("Get back camera image error. Code:", back_code)
+    else:
+        back_image_name = "./back_img.jpg"
+        print("Back Image Saved as:", back_image_name)
+
+        with open(back_image_name, "+wb") as f:
+            f.write(bytes(back_data))
+
+    time.sleep(1)

unitree_sdk2py/b2/back_video/back_video_api.py

@@ -0,0 +1,16 @@
+"""
+" service name
+"""
+ROBOT_BACK_VIDEO_SERVICE_NAME = "back_videohub"
+
+
+"""
+" service api version
+"""
+ROBOT_BACK_VIDEO_API_VERSION = "1.0.0.0"
+
+
+"""
+" api id
+"""
+ROBOT_BACK_VIDEO_API_ID_GETIMAGESAMPLE = 1001

unitree_sdk2py/b2/back_video/back_video_client.py

@@ -0,0 +1,23 @@
+import json
+
+from ...rpc.client import Client
+from .back_video_api import *
+
+
+"""
+" class FrontVideoClient
+"""
+class BackVideoClient(Client):
+    def __init__(self):
+        super().__init__(ROBOT_BACK_VIDEO_SERVICE_NAME, False)
+
+
+    def Init(self):
+        # set api version
+        self._SetApiVerson(ROBOT_BACK_VIDEO_API_VERSION)
+        # regist api
+        self._RegistApi(ROBOT_BACK_VIDEO_API_ID_GETIMAGESAMPLE, 0)
+
+    # 1001
+    def GetImageSample(self):
+        return self._CallBinary(ROBOT_BACK_VIDEO_API_ID_GETIMAGESAMPLE, [])

unitree_sdk2py/b2/front_video/front_video_api.py

@@ -0,0 +1,16 @@
+"""
+" service name
+"""
+ROBOT_FRONT_VIDEO_SERVICE_NAME = "front_videohub"
+
+
+"""
+" service api version
+"""
+ROBOT_FRONT_VIDEO_API_VERSION = "1.0.0.0"
+
+
+"""
+" api id
+"""
+ROBOT_FRONT_VIDEO_API_ID_GETIMAGESAMPLE = 1001

unitree_sdk2py/b2/front_video/front_video_client.py

@@ -0,0 +1,23 @@
+import json
+
+from ...rpc.client import Client
+from .front_video_api import *
+
+
+"""
+" class FrontVideoClient
+"""
+class FrontVideoClient(Client):
+    def __init__(self):
+        super().__init__(ROBOT_FRONT_VIDEO_SERVICE_NAME, False)
+
+
+    def Init(self):
+        # set api version
+        self._SetApiVerson(ROBOT_FRONT_VIDEO_API_VERSION)
+        # regist api
+        self._RegistApi(ROBOT_FRONT_VIDEO_API_ID_GETIMAGESAMPLE, 0)
+
+    # 1001
+    def GetImageSample(self):
+        return self._CallBinary(ROBOT_FRONT_VIDEO_API_ID_GETIMAGESAMPLE, [])

unitree_sdk2py/b2/video/video_api.py

@@ -1,16 +0,0 @@
-"""
-" service name
-"""
-VIDEO_SERVICE_NAME = "videohub"
-
-
-"""
-" service api version
-"""
-VIDEO_API_VERSION = "1.0.0.1"
-
-
-"""
-" api id
-"""
-VIDEO_API_ID_GETIMAGESAMPLE = 1001

unitree_sdk2py/b2/video/video_client.py

@@ -1,23 +0,0 @@
-import json
-
-from ...rpc.client import Client
-from .video_api import *
-
-
-"""
-" class VideoClient
-"""
-class VideoClient(Client):
-    def __init__(self):
-        super().__init__(VIDEO_SERVICE_NAME, False)
-
-
-    def Init(self):
-        # set api version
-        self._SetApiVerson(VIDEO_API_VERSION)
-        # regist api
-        self._RegistApi(VIDEO_API_ID_GETIMAGESAMPLE, 0)
-
-    # 1001
-    def GetImageSample(self):
-        return self._CallBinary(VIDEO_API_ID_GETIMAGESAMPLE, [])