135 lines
3.0 KiB
Python
135 lines
3.0 KiB
Python
|
import enum
|
||
|
|
|
||
|
|
import numpy as np
|
||
|
|
|
||
|
|
|
||
|
|
class RSStream(enum.Enum):
|
||
|
|
color = 0
|
||
|
|
depth = 1
|
||
|
|
|
||
|
|
|
||
|
|
class RSFormat(enum.Enum):
|
||
|
|
rgb8 = 0
|
||
|
|
z16 = 1
|
||
|
|
|
||
|
|
|
||
|
|
class RSConfig:
|
||
|
|
def enable_device(self, device_id: str):
|
||
|
|
self.device_enabled = device_id
|
||
|
|
|
||
|
|
def enable_stream(
|
||
|
|
self, stream_type: RSStream, width=None, height=None, color_format: RSFormat = None, fps=None
|
||
|
|
):
|
||
|
|
self.stream_type = stream_type
|
||
|
|
# Overwrite default values when possible
|
||
|
|
self.width = 848 if width is None else width
|
||
|
|
self.height = 480 if height is None else height
|
||
|
|
self.color_format = RSFormat.rgb8 if color_format is None else color_format
|
||
|
|
self.fps = 30 if fps is None else fps
|
||
|
|
|
||
|
|
|
||
|
|
class RSColorProfile:
|
||
|
|
def __init__(self, config: RSConfig):
|
||
|
|
self.config = config
|
||
|
|
|
||
|
|
def fps(self):
|
||
|
|
return self.config.fps
|
||
|
|
|
||
|
|
def width(self):
|
||
|
|
return self.config.width
|
||
|
|
|
||
|
|
def height(self):
|
||
|
|
return self.config.height
|
||
|
|
|
||
|
|
|
||
|
|
class RSColorStream:
|
||
|
|
def __init__(self, config: RSConfig):
|
||
|
|
self.config = config
|
||
|
|
|
||
|
|
def as_video_stream_profile(self):
|
||
|
|
return RSColorProfile(self.config)
|
||
|
|
|
||
|
|
|
||
|
|
class RSProfile:
|
||
|
|
def __init__(self, config: RSConfig):
|
||
|
|
self.config = config
|
||
|
|
|
||
|
|
def get_stream(self, color_format: RSFormat):
|
||
|
|
del color_format # unused
|
||
|
|
return RSColorStream(self.config)
|
||
|
|
|
||
|
|
|
||
|
|
class RSPipeline:
|
||
|
|
def __init__(self):
|
||
|
|
self.started = False
|
||
|
|
self.config = None
|
||
|
|
|
||
|
|
def start(self, config: RSConfig):
|
||
|
|
self.started = True
|
||
|
|
self.config = config
|
||
|
|
return RSProfile(self.config)
|
||
|
|
|
||
|
|
def stop(self):
|
||
|
|
if not self.started:
|
||
|
|
raise RuntimeError("You need to start the camera before stop.")
|
||
|
|
self.started = False
|
||
|
|
self.config = None
|
||
|
|
|
||
|
|
def wait_for_frames(self, timeout_ms=50000):
|
||
|
|
del timeout_ms # unused
|
||
|
|
return RSFrames(self.config)
|
||
|
|
|
||
|
|
|
||
|
|
class RSFrames:
|
||
|
|
def __init__(self, config: RSConfig):
|
||
|
|
self.config = config
|
||
|
|
|
||
|
|
def get_color_frame(self):
|
||
|
|
return RSColorFrame(self.config)
|
||
|
|
|
||
|
|
def get_depth_frame(self):
|
||
|
|
return RSDepthFrame(self.config)
|
||
|
|
|
||
|
|
|
||
|
|
class RSColorFrame:
|
||
|
|
def __init__(self, config: RSConfig):
|
||
|
|
self.config = config
|
||
|
|
|
||
|
|
def get_data(self):
|
||
|
|
data = np.ones((self.config.height, self.config.width, 3), dtype=np.uint8)
|
||
|
|
# Create a difference between rgb and bgr
|
||
|
|
data[:, :, 0] = 2
|
||
|
|
return data
|
||
|
|
|
||
|
|
|
||
|
|
class RSDepthFrame:
|
||
|
|
def __init__(self, config: RSConfig):
|
||
|
|
self.config = config
|
||
|
|
|
||
|
|
def get_data(self):
|
||
|
|
return np.ones((self.config.height, self.config.width), dtype=np.uint16)
|
||
|
|
|
||
|
|
|
||
|
|
class RSDevice:
|
||
|
|
def __init__(self):
|
||
|
|
pass
|
||
|
|
|
||
|
|
def get_info(self, camera_info) -> str:
|
||
|
|
del camera_info # unused
|
||
|
|
# return fake serial number
|
||
|
|
return "123456789"
|
||
|
|
|
||
|
|
|
||
|
|
class RSContext:
|
||
|
|
def __init__(self):
|
||
|
|
pass
|
||
|
|
|
||
|
|
def query_devices(self):
|
||
|
|
return [RSDevice()]
|
||
|
|
|
||
|
|
|
||
|
|
class RSCameraInfo:
|
||
|
|
def __init__(self, serial_number):
|
||
|
|
del serial_number
|
||
|
|
pass
|