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record.py
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record.py
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"""
record.py
---------------
Main Function for recording a video sequence into cad (color-aligned-to-depth)
images and depth images
This code is compatible with legacy camera models supported on librealsense SDK v1
and use 3rd party python wrapper https://github.com/toinsson/pyrealsense
For the newer D series cameras, please use record2.py
"""
# record for 30s after a 5s count down
# or exit the recording earlier by pressing q
import png
import json
import logging
logging.basicConfig(level=logging.INFO)
import numpy as np
import cv2
import pyrealsense as pyrs
import time
import os
import sys
from params import RECORD_FRAME_NUM, Interval_frame
def make_directories(folder):
if not os.path.exists(folder + "rgb/"):
os.makedirs(folder + "rgb/")
if not os.path.exists(folder + "depth/"):
os.makedirs(folder + "depth/")
def print_usage():
print("Usage: record.py <foldername>")
print("foldername: path where the recorded data should be stored at")
print("e.g., record.py LINEMOD/mug")
if __name__ == "__main__":
try:
folder = sys.argv[1] + "/"
except:
print_usage()
exit()
make_directories(folder)
# save_color_intrinsics(folder)
FileName = 0
with pyrs.Service() as serv:
with serv.Device() as dev:
# Save color intrinsics to the corresponding folder
intr = dev.__getattribute__('color_intrinsics')
camera_parameters_data = {}
camera_K = [intr.fx, 0.0, intr.ppx, 0.0, intr.fy, intr.ppy, 0.0, 0.0, 1.0]
depth_scale = dev.depth_scale * 1000
# Set frame rate
cnt = 0
last = time.time()
smoothing = 0.9
fps_smooth = 30
T_start = time.time()
while True:
cnt += 1
if (cnt % 10) == 0:
now = time.time()
dt = now - last
fps = 10 / dt
fps_smooth = (fps_smooth * smoothing) + (fps * (1.0 - smoothing))
last = now
dev.wait_for_frames()
c = dev.color
c = cv2.cvtColor(c, cv2.COLOR_RGB2BGR)
d = dev.dac
# Visualize count down
if time.time() - T_start > 5:
if cnt % Interval_frame == 0:
camera_parameters_data[str(FileName)] = {'cam_K': camera_K, 'depth_scale': depth_scale}
FileName_write = f'{FileName:06}'
filecad = folder + "rgb/%s.png" % FileName_write
filedepth = folder + "depth/%s.png" % FileName_write
cv2.imwrite(filecad, c, [cv2.IMWRITE_PNG_COMPRESSION, 0])
with open(filedepth, 'wb') as f:
writer = png.Writer(width=d.shape[1], height=d.shape[0],
bitdepth=16, greyscale=True)
zgray2list = d.tolist()
writer.write(f, zgray2list)
FileName += 1
if FileName >= RECORD_FRAME_NUM:
dev.stop()
serv.stop()
break
if time.time() - T_start < 5:
cv2.putText(c, str(5 - int(time.time() - T_start)), (240, 320), cv2.FONT_HERSHEY_SCRIPT_SIMPLEX, 4,
(0, 0, 255), 2, cv2.LINE_AA)
if FileName >= RECORD_FRAME_NUM - 150:
cv2.putText(c, str(RECORD_FRAME_NUM - FileName), (240, 320),
cv2.FONT_HERSHEY_SCRIPT_SIMPLEX, 4, (0, 0, 255), 2, cv2.LINE_AA)
cv2.imshow('COLOR FRAME', c)
# press q to quit the program
if cv2.waitKey(1) & 0xFF == ord('q'):
dev.stop()
serv.stop()
break
with open(folder + 'scene_camera.json', 'w') as fp:
json.dump(camera_parameters_data, fp)
# Release everything if job is finished
cv2.destroyAllWindows()