| Name | markit-rs-recorder JSON |
| Version |
2.0.0
JSON |
| download |
| home_page | |
| Summary | Realsense remote recorder |
| upload_time | 2023-04-22 02:15:20 |
| maintainer | |
| docs_url | None |
| author | davidliyutong |
| requires_python | >=3.6 |
| license | |
| keywords |
|
| VCS |
|
| bugtrack_url |
|
| requirements |
No requirements were recorded.
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No Travis.
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# RealsenseRecorder
A set of Python scripts to operate Intel Realsense Cameras. By using multi-thread techniques, this script can record color + depth from up to 4 Realsense Cameras (2 x L515 and 2 x D435)
## Installation
### From Source
```shell
git clone https://github.com/mvig-robotflow/rfimarkit-rs-recorder
cd rfimarkit-rs-recorder
python setup.py
```
### From PyPi
```shell
python -m pip install markit-rs-recorder
```
## Usage
### Script Usage
```python
import io
import cv2
import numpy as np
import yaml
from markit_rs_recorder.common import new_realsense_camera_system_from_config, RealsenseSystemModel
cfg_str = """
realsense:
cameras:
- color:
- exposure: -1
format: rs.format.bgra8
fps: 30
height: 1080
width: 1920
depth: [] # Do not user depth
endpoint: {}
imu: []
product_id: 0B64 # 0B64 for L515
product_line: L500 # Currently supported models are L500(L515) and D400(D435)
ref: 1
sn: f0220485 # SN of target Camera, can get from RealSenseViewer
system:
base_dir: ./realsense_data
frame_queue_size: 100
interactive: false
interval_ms: 0
use_bag: false
"""
def main():
cfg = yaml.load(io.StringIO(cfg_str), yaml.SafeLoader)
sys = new_realsense_camera_system_from_config(RealsenseSystemModel, cfg['realsense'], None)
print(sys.cameras)
cam = sys.cameras[0]
cam.open()
cam.start()
mtx = np.array(cam.intrinsics_matrix)
while True:
color_image, depth_image, ts, sys_ts, frame_counter = cam.get_frames()
cv2.imshow("frame", color_image)
key = cv2.waitKey(1)
if key == 27:
print('esc break...')
cv2.destroyAllWindows()
break
main()
```
### Command Line Usage
To Create and persist record configuration:
```shell
python -m markit_rs_recorder configure
```
To launch a remote record station that supports REST API
```shell
python -m markit_rs_recorder serve
```
To launch a remote record station that is calibrated
```shell
python -m markit_rs_recorder serve --calibration=path/to/calibration
```
> Note: The calibration.json file is expected to be in the `path/to/calibration` directory. The calibration file can be generated by running `python -m realsense_recorder calibrate`
To run calibration
```shell
python -m markit_rs_recorder calibrate
```
To run post-processing
```shell
python -m markit_rs_recorder post_process --base_dir path/to/recording
```
Raw data
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"description": "# RealsenseRecorder\n\nA set of Python scripts to operate Intel Realsense Cameras. By using multi-thread techniques, this script can record color + depth from up to 4 Realsense Cameras (2 x L515 and 2 x D435)\n\n## Installation\n\n### From Source\n\n```shell\ngit clone https://github.com/mvig-robotflow/rfimarkit-rs-recorder\ncd rfimarkit-rs-recorder\npython setup.py\n```\n\n### From PyPi\n\n```shell\npython -m pip install markit-rs-recorder\n```\n\n## Usage\n\n### Script Usage\n\n```python\nimport io\n\nimport cv2\nimport numpy as np\nimport yaml\nfrom markit_rs_recorder.common import new_realsense_camera_system_from_config, RealsenseSystemModel\n\ncfg_str = \"\"\"\nrealsense:\n cameras:\n - color:\n - exposure: -1\n format: rs.format.bgra8\n fps: 30\n height: 1080\n width: 1920\n depth: [] # Do not user depth \n endpoint: {}\n imu: []\n product_id: 0B64 # 0B64 for L515\n product_line: L500 # Currently supported models are L500(L515) and D400(D435)\n ref: 1\n sn: f0220485 # SN of target Camera, can get from RealSenseViewer\n system:\n base_dir: ./realsense_data\n frame_queue_size: 100\n interactive: false\n interval_ms: 0\n use_bag: false\n\"\"\"\n\n\ndef main():\n cfg = yaml.load(io.StringIO(cfg_str), yaml.SafeLoader)\n sys = new_realsense_camera_system_from_config(RealsenseSystemModel, cfg['realsense'], None)\n print(sys.cameras)\n cam = sys.cameras[0]\n cam.open()\n cam.start()\n mtx = np.array(cam.intrinsics_matrix)\n while True:\n color_image, depth_image, ts, sys_ts, frame_counter = cam.get_frames()\n cv2.imshow(\"frame\", color_image)\n key = cv2.waitKey(1)\n if key == 27:\n print('esc break...')\n cv2.destroyAllWindows()\n break\n\n\nmain()\n```\n\n### Command Line Usage\n\nTo Create and persist record configuration:\n\n```shell\npython -m markit_rs_recorder configure\n```\n\nTo launch a remote record station that supports REST API\n\n```shell\npython -m markit_rs_recorder serve\n```\n\nTo launch a remote record station that is calibrated \n```shell\npython -m markit_rs_recorder serve --calibration=path/to/calibration\n```\n\n> Note: The calibration.json file is expected to be in the `path/to/calibration` directory. The calibration file can be generated by running `python -m realsense_recorder calibrate`\n\nTo run calibration\n\n```shell\npython -m markit_rs_recorder calibrate\n```\n\nTo run post-processing\n\n```shell\npython -m markit_rs_recorder post_process --base_dir path/to/recording\n```\n",
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