149 lines
3.6 KiB
Python
149 lines
3.6 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import enum
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import numpy as np
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class stream(enum.Enum): # noqa: N801
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color = 0
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depth = 1
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class format(enum.Enum): # noqa: N801
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rgb8 = 0
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z16 = 1
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class config: # noqa: N801
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def enable_device(self, device_id: str):
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self.device_enabled = device_id
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def enable_stream(self, stream_type: stream, width=None, height=None, color_format=None, fps=None):
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self.stream_type = stream_type
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# Overwrite default values when possible
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self.width = 848 if width is None else width
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self.height = 480 if height is None else height
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self.color_format = format.rgb8 if color_format is None else color_format
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self.fps = 30 if fps is None else fps
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class RSColorProfile:
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def __init__(self, config):
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self.config = config
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def fps(self):
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return self.config.fps
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def width(self):
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return self.config.width
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def height(self):
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return self.config.height
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class RSColorStream:
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def __init__(self, config):
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self.config = config
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def as_video_stream_profile(self):
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return RSColorProfile(self.config)
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class RSProfile:
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def __init__(self, config):
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self.config = config
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def get_stream(self, color_format):
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del color_format # unused
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return RSColorStream(self.config)
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class pipeline: # noqa: N801
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def __init__(self):
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self.started = False
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self.config = None
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def start(self, config):
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self.started = True
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self.config = config
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return RSProfile(self.config)
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def stop(self):
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if not self.started:
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raise RuntimeError("You need to start the camera before stop.")
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self.started = False
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self.config = None
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def wait_for_frames(self, timeout_ms=50000):
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del timeout_ms # unused
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return RSFrames(self.config)
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class RSFrames:
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def __init__(self, config):
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self.config = config
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def get_color_frame(self):
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return RSColorFrame(self.config)
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def get_depth_frame(self):
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return RSDepthFrame(self.config)
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class RSColorFrame:
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def __init__(self, config):
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self.config = config
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def get_data(self):
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data = np.ones((self.config.height, self.config.width, 3), dtype=np.uint8)
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# Create a difference between rgb and bgr
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data[:, :, 0] = 2
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return data
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class RSDepthFrame:
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def __init__(self, config):
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self.config = config
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def get_data(self):
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return np.ones((self.config.height, self.config.width), dtype=np.uint16)
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class RSDevice:
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def __init__(self):
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pass
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def get_info(self, camera_info) -> str:
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del camera_info # unused
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# return fake serial number
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return "123456789"
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class context: # noqa: N801
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def __init__(self):
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pass
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def query_devices(self):
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return [RSDevice()]
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class camera_info: # noqa: N801
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# fake name
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name = "Intel RealSense D435I"
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def __init__(self, serial_number):
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del serial_number
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pass
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