silencht
5 months ago
7 changed files with 84 additions and 658 deletions
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3.gitmodules
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197teleop/image_server/image_client.py
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321teleop/image_server/image_server.py
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47teleop/robot_control/robot_hand_unitree.py
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1teleop/teleimager
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171teleop/teleop_hand_and_arm.py
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2teleop/televuer
@ -1,197 +0,0 @@ |
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import cv2 |
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import zmq |
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import numpy as np |
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import time |
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import struct |
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from collections import deque |
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from multiprocessing import shared_memory |
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import logging_mp |
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logger_mp = logging_mp.get_logger(__name__) |
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|
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class ImageClient: |
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def __init__(self, tv_img_shape = None, tv_img_shm_name = None, wrist_img_shape = None, wrist_img_shm_name = None, |
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image_show = False, server_address = "192.168.123.164", port = 5555, Unit_Test = False): |
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""" |
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tv_img_shape: User's expected head camera resolution shape (H, W, C). It should match the output of the image service terminal. |
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tv_img_shm_name: Shared memory is used to easily transfer images across processes to the Vuer. |
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|
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wrist_img_shape: User's expected wrist camera resolution shape (H, W, C). It should maintain the same shape as tv_img_shape. |
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|
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wrist_img_shm_name: Shared memory is used to easily transfer images. |
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|
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image_show: Whether to display received images in real time. |
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|
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server_address: The ip address to execute the image server script. |
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|
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port: The port number to bind to. It should be the same as the image server. |
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|
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Unit_Test: When both server and client are True, it can be used to test the image transfer latency, \ |
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network jitter, frame loss rate and other information. |
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""" |
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self.running = True |
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self._image_show = image_show |
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self._server_address = server_address |
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self._port = port |
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|
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self.tv_img_shape = tv_img_shape |
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self.wrist_img_shape = wrist_img_shape |
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|
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self.tv_enable_shm = False |
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if self.tv_img_shape is not None and tv_img_shm_name is not None: |
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self.tv_image_shm = shared_memory.SharedMemory(name=tv_img_shm_name) |
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self.tv_img_array = np.ndarray(tv_img_shape, dtype = np.uint8, buffer = self.tv_image_shm.buf) |
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self.tv_enable_shm = True |
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|
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self.wrist_enable_shm = False |
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if self.wrist_img_shape is not None and wrist_img_shm_name is not None: |
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self.wrist_image_shm = shared_memory.SharedMemory(name=wrist_img_shm_name) |
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self.wrist_img_array = np.ndarray(wrist_img_shape, dtype = np.uint8, buffer = self.wrist_image_shm.buf) |
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self.wrist_enable_shm = True |
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|
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# Performance evaluation parameters |
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self._enable_performance_eval = Unit_Test |
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if self._enable_performance_eval: |
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self._init_performance_metrics() |
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|
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def _init_performance_metrics(self): |
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self._frame_count = 0 # Total frames received |
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self._last_frame_id = -1 # Last received frame ID |
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|
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# Real-time FPS calculation using a time window |
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self._time_window = 1.0 # Time window size (in seconds) |
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self._frame_times = deque() # Timestamps of frames received within the time window |
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|
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# Data transmission quality metrics |
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self._latencies = deque() # Latencies of frames within the time window |
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self._lost_frames = 0 # Total lost frames |
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self._total_frames = 0 # Expected total frames based on frame IDs |
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|
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def _update_performance_metrics(self, timestamp, frame_id, receive_time): |
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# Update latency |
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latency = receive_time - timestamp |
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self._latencies.append(latency) |
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|
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# Remove latencies outside the time window |
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while self._latencies and self._frame_times and self._latencies[0] < receive_time - self._time_window: |
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self._latencies.popleft() |
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|
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# Update frame times |
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self._frame_times.append(receive_time) |
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# Remove timestamps outside the time window |
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while self._frame_times and self._frame_times[0] < receive_time - self._time_window: |
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self._frame_times.popleft() |
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|
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# Update frame counts for lost frame calculation |
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expected_frame_id = self._last_frame_id + 1 if self._last_frame_id != -1 else frame_id |
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if frame_id != expected_frame_id: |
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lost = frame_id - expected_frame_id |
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if lost < 0: |
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logger_mp.info(f"[Image Client] Received out-of-order frame ID: {frame_id}") |
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else: |
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self._lost_frames += lost |
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logger_mp.warning(f"[Image Client] Detected lost frames: {lost}, Expected frame ID: {expected_frame_id}, Received frame ID: {frame_id}") |
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self._last_frame_id = frame_id |
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self._total_frames = frame_id + 1 |
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self._frame_count += 1 |
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|
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def _print_performance_metrics(self, receive_time): |
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if self._frame_count % 30 == 0: |
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# Calculate real-time FPS |
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real_time_fps = len(self._frame_times) / self._time_window if self._time_window > 0 else 0 |
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|
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# Calculate latency metrics |
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if self._latencies: |
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avg_latency = sum(self._latencies) / len(self._latencies) |
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max_latency = max(self._latencies) |
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min_latency = min(self._latencies) |
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jitter = max_latency - min_latency |
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else: |
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avg_latency = max_latency = min_latency = jitter = 0 |
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|
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# Calculate lost frame rate |
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lost_frame_rate = (self._lost_frames / self._total_frames) * 100 if self._total_frames > 0 else 0 |
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logger_mp.info(f"[Image Client] Real-time FPS: {real_time_fps:.2f}, Avg Latency: {avg_latency*1000:.2f} ms, Max Latency: {max_latency*1000:.2f} ms, \ |
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Min Latency: {min_latency*1000:.2f} ms, Jitter: {jitter*1000:.2f} ms, Lost Frame Rate: {lost_frame_rate:.2f}%") |
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|
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def _close(self): |
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self._socket.close() |
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self._context.term() |
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if self._image_show: |
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cv2.destroyAllWindows() |
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logger_mp.info("Image client has been closed.") |
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def receive_process(self): |
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# Set up ZeroMQ context and socket |
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self._context = zmq.Context() |
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self._socket = self._context.socket(zmq.SUB) |
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self._socket.connect(f"tcp://{self._server_address}:{self._port}") |
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self._socket.setsockopt_string(zmq.SUBSCRIBE, "") |
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logger_mp.info("Image client has started, waiting to receive data...") |
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try: |
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while self.running: |
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# Receive message |
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message = self._socket.recv() |
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receive_time = time.time() |
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if self._enable_performance_eval: |
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header_size = struct.calcsize('dI') |
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try: |
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# Attempt to extract header and image data |
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header = message[:header_size] |
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jpg_bytes = message[header_size:] |
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timestamp, frame_id = struct.unpack('dI', header) |
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except struct.error as e: |
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logger_mp.warning(f"[Image Client] Error unpacking header: {e}, discarding message.") |
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continue |
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else: |
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# No header, entire message is image data |
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jpg_bytes = message |
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# Decode image |
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np_img = np.frombuffer(jpg_bytes, dtype=np.uint8) |
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current_image = cv2.imdecode(np_img, cv2.IMREAD_COLOR) |
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if current_image is None: |
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logger_mp.warning("[Image Client] Failed to decode image.") |
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continue |
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|
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if self.tv_enable_shm: |
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np.copyto(self.tv_img_array, np.array(current_image[:, :self.tv_img_shape[1]])) |
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if self.wrist_enable_shm: |
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np.copyto(self.wrist_img_array, np.array(current_image[:, -self.wrist_img_shape[1]:])) |
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if self._image_show: |
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height, width = current_image.shape[:2] |
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resized_image = cv2.resize(current_image, (width // 2, height // 2)) |
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cv2.imshow('Image Client Stream', resized_image) |
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if cv2.waitKey(1) & 0xFF == ord('q'): |
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self.running = False |
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if self._enable_performance_eval: |
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self._update_performance_metrics(timestamp, frame_id, receive_time) |
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self._print_performance_metrics(receive_time) |
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|
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except KeyboardInterrupt: |
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logger_mp.info("Image client interrupted by user.") |
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except Exception as e: |
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logger_mp.warning(f"[Image Client] An error occurred while receiving data: {e}") |
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finally: |
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self._close() |
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|
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if __name__ == "__main__": |
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# example1 |
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# tv_img_shape = (480, 1280, 3) |
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# img_shm = shared_memory.SharedMemory(create=True, size=np.prod(tv_img_shape) * np.uint8().itemsize) |
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# img_array = np.ndarray(tv_img_shape, dtype=np.uint8, buffer=img_shm.buf) |
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# img_client = ImageClient(tv_img_shape = tv_img_shape, tv_img_shm_name = img_shm.name) |
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# img_client.receive_process() |
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|
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# example2 |
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# Initialize the client with performance evaluation enabled |
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# client = ImageClient(image_show = True, server_address='127.0.0.1', Unit_Test=True) # local test |
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client = ImageClient(image_show = True, server_address='192.168.123.164', Unit_Test=False) # deployment test |
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client.receive_process() |
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@ -1,321 +0,0 @@ |
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import cv2 |
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import zmq |
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import time |
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import struct |
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from collections import deque |
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import numpy as np |
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import pyrealsense2 as rs |
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import logging_mp |
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logger_mp = logging_mp.get_logger(__name__, level=logging_mp.DEBUG) |
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|
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|
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class RealSenseCamera(object): |
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def __init__(self, img_shape, fps, serial_number=None, enable_depth=False) -> None: |
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""" |
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img_shape: [height, width] |
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serial_number: serial number |
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""" |
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self.img_shape = img_shape |
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self.fps = fps |
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self.serial_number = serial_number |
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self.enable_depth = enable_depth |
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align_to = rs.stream.color |
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self.align = rs.align(align_to) |
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self.init_realsense() |
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def init_realsense(self): |
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self.pipeline = rs.pipeline() |
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config = rs.config() |
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if self.serial_number is not None: |
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config.enable_device(self.serial_number) |
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config.enable_stream(rs.stream.color, self.img_shape[1], self.img_shape[0], rs.format.bgr8, self.fps) |
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if self.enable_depth: |
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config.enable_stream(rs.stream.depth, self.img_shape[1], self.img_shape[0], rs.format.z16, self.fps) |
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profile = self.pipeline.start(config) |
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self._device = profile.get_device() |
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if self._device is None: |
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logger_mp.error('[Image Server] pipe_profile.get_device() is None .') |
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if self.enable_depth: |
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assert self._device is not None |
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depth_sensor = self._device.first_depth_sensor() |
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self.g_depth_scale = depth_sensor.get_depth_scale() |
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self.intrinsics = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics() |
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def get_frame(self): |
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frames = self.pipeline.wait_for_frames() |
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aligned_frames = self.align.process(frames) |
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color_frame = aligned_frames.get_color_frame() |
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if self.enable_depth: |
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depth_frame = aligned_frames.get_depth_frame() |
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if not color_frame: |
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return None |
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color_image = np.asanyarray(color_frame.get_data()) |
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# color_image = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB) |
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depth_image = np.asanyarray(depth_frame.get_data()) if self.enable_depth else None |
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return color_image, depth_image |
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def release(self): |
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self.pipeline.stop() |
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class OpenCVCamera(): |
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def __init__(self, device_id, img_shape, fps): |
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""" |
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decive_id: /dev/video* or * |
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img_shape: [height, width] |
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""" |
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self.id = device_id |
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self.fps = fps |
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self.img_shape = img_shape |
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self.cap = cv2.VideoCapture(self.id, cv2.CAP_V4L2) |
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self.cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter.fourcc('M', 'J', 'P', 'G')) |
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self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.img_shape[0]) |
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self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.img_shape[1]) |
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self.cap.set(cv2.CAP_PROP_FPS, self.fps) |
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# Test if the camera can read frames |
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if not self._can_read_frame(): |
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logger_mp.error(f"[Image Server] Camera {self.id} Error: Failed to initialize the camera or read frames. Exiting...") |
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self.release() |
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def _can_read_frame(self): |
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success, _ = self.cap.read() |
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return success |
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def release(self): |
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self.cap.release() |
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def get_frame(self): |
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ret, color_image = self.cap.read() |
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if not ret: |
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return None |
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return color_image |
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class ImageServer: |
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def __init__(self, config, port = 5555, Unit_Test = False): |
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""" |
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config example1: |
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{ |
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'fps':30 # frame per second |
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'head_camera_type': 'opencv', # opencv or realsense |
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'head_camera_image_shape': [480, 1280], # Head camera resolution [height, width] |
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'head_camera_id_numbers': [0], # '/dev/video0' (opencv) |
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'wrist_camera_type': 'realsense', |
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'wrist_camera_image_shape': [480, 640], # Wrist camera resolution [height, width] |
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'wrist_camera_id_numbers': ["218622271789", "241222076627"], # realsense camera's serial number |
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} |
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|
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config example2: |
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{ |
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'fps':30 # frame per second |
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'head_camera_type': 'realsense', # opencv or realsense |
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'head_camera_image_shape': [480, 640], # Head camera resolution [height, width] |
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'head_camera_id_numbers': ["218622271739"], # realsense camera's serial number |
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'wrist_camera_type': 'opencv', |
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'wrist_camera_image_shape': [480, 640], # Wrist camera resolution [height, width] |
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'wrist_camera_id_numbers': [0,1], # '/dev/video0' and '/dev/video1' (opencv) |
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} |
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If you are not using the wrist camera, you can comment out its configuration, like this below: |
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config: |
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{ |
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'fps':30 # frame per second |
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'head_camera_type': 'opencv', # opencv or realsense |
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'head_camera_image_shape': [480, 1280], # Head camera resolution [height, width] |
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'head_camera_id_numbers': [0], # '/dev/video0' (opencv) |
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#'wrist_camera_type': 'realsense', |
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#'wrist_camera_image_shape': [480, 640], # Wrist camera resolution [height, width] |
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#'wrist_camera_id_numbers': ["218622271789", "241222076627"], # serial number (realsense) |
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} |
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""" |
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logger_mp.info(config) |
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self.fps = config.get('fps', 30) |
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self.head_camera_type = config.get('head_camera_type', 'opencv') |
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self.head_image_shape = config.get('head_camera_image_shape', [480, 640]) # (height, width) |
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self.head_camera_id_numbers = config.get('head_camera_id_numbers', [0]) |
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self.wrist_camera_type = config.get('wrist_camera_type', None) |
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self.wrist_image_shape = config.get('wrist_camera_image_shape', [480, 640]) # (height, width) |
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self.wrist_camera_id_numbers = config.get('wrist_camera_id_numbers', None) |
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self.port = port |
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self.Unit_Test = Unit_Test |
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# Initialize head cameras |
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self.head_cameras = [] |
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if self.head_camera_type == 'opencv': |
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for device_id in self.head_camera_id_numbers: |
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camera = OpenCVCamera(device_id=device_id, img_shape=self.head_image_shape, fps=self.fps) |
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self.head_cameras.append(camera) |
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elif self.head_camera_type == 'realsense': |
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for serial_number in self.head_camera_id_numbers: |
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camera = RealSenseCamera(img_shape=self.head_image_shape, fps=self.fps, serial_number=serial_number) |
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self.head_cameras.append(camera) |
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else: |
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logger_mp.warning(f"[Image Server] Unsupported head_camera_type: {self.head_camera_type}") |
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|
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# Initialize wrist cameras if provided |
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self.wrist_cameras = [] |
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if self.wrist_camera_type and self.wrist_camera_id_numbers: |
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if self.wrist_camera_type == 'opencv': |
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for device_id in self.wrist_camera_id_numbers: |
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camera = OpenCVCamera(device_id=device_id, img_shape=self.wrist_image_shape, fps=self.fps) |
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self.wrist_cameras.append(camera) |
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elif self.wrist_camera_type == 'realsense': |
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for serial_number in self.wrist_camera_id_numbers: |
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camera = RealSenseCamera(img_shape=self.wrist_image_shape, fps=self.fps, serial_number=serial_number) |
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self.wrist_cameras.append(camera) |
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else: |
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logger_mp.warning(f"[Image Server] Unsupported wrist_camera_type: {self.wrist_camera_type}") |
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|
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# Set ZeroMQ context and socket |
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self.context = zmq.Context() |
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self.socket = self.context.socket(zmq.PUB) |
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self.socket.bind(f"tcp://*:{self.port}") |
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if self.Unit_Test: |
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self._init_performance_metrics() |
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|
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for cam in self.head_cameras: |
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if isinstance(cam, OpenCVCamera): |
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logger_mp.info(f"[Image Server] Head camera {cam.id} resolution: {cam.cap.get(cv2.CAP_PROP_FRAME_HEIGHT)} x {cam.cap.get(cv2.CAP_PROP_FRAME_WIDTH)}") |
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elif isinstance(cam, RealSenseCamera): |
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logger_mp.info(f"[Image Server] Head camera {cam.serial_number} resolution: {cam.img_shape[0]} x {cam.img_shape[1]}") |
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else: |
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logger_mp.warning("[Image Server] Unknown camera type in head_cameras.") |
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|
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for cam in self.wrist_cameras: |
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if isinstance(cam, OpenCVCamera): |
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logger_mp.info(f"[Image Server] Wrist camera {cam.id} resolution: {cam.cap.get(cv2.CAP_PROP_FRAME_HEIGHT)} x {cam.cap.get(cv2.CAP_PROP_FRAME_WIDTH)}") |
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elif isinstance(cam, RealSenseCamera): |
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logger_mp.info(f"[Image Server] Wrist camera {cam.serial_number} resolution: {cam.img_shape[0]} x {cam.img_shape[1]}") |
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else: |
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logger_mp.warning("[Image Server] Unknown camera type in wrist_cameras.") |
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|
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logger_mp.info("[Image Server] Image server has started, waiting for client connections...") |
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|
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def _init_performance_metrics(self): |
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self.frame_count = 0 # Total frames sent |
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self.time_window = 1.0 # Time window for FPS calculation (in seconds) |
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self.frame_times = deque() # Timestamps of frames sent within the time window |
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self.start_time = time.time() # Start time of the streaming |
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|
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def _update_performance_metrics(self, current_time): |
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# Add current time to frame times deque |
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self.frame_times.append(current_time) |
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# Remove timestamps outside the time window |
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while self.frame_times and self.frame_times[0] < current_time - self.time_window: |
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self.frame_times.popleft() |
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# Increment frame count |
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self.frame_count += 1 |
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|
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def _print_performance_metrics(self, current_time): |
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if self.frame_count % 30 == 0: |
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elapsed_time = current_time - self.start_time |
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real_time_fps = len(self.frame_times) / self.time_window |
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logger_mp.info(f"[Image Server] Real-time FPS: {real_time_fps:.2f}, Total frames sent: {self.frame_count}, Elapsed time: {elapsed_time:.2f} sec") |
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|
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def _close(self): |
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for cam in self.head_cameras: |
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cam.release() |
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for cam in self.wrist_cameras: |
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cam.release() |
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self.socket.close() |
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self.context.term() |
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logger_mp.info("[Image Server] The server has been closed.") |
|||
|
|||
def send_process(self): |
|||
try: |
|||
while True: |
|||
head_frames = [] |
|||
for cam in self.head_cameras: |
|||
if self.head_camera_type == 'opencv': |
|||
color_image = cam.get_frame() |
|||
if color_image is None: |
|||
logger_mp.error("[Image Server] Head camera frame read is error.") |
|||
break |
|||
elif self.head_camera_type == 'realsense': |
|||
color_image, depth_iamge = cam.get_frame() |
|||
if color_image is None: |
|||
logger_mp.error("[Image Server] Head camera frame read is error.") |
|||
break |
|||
head_frames.append(color_image) |
|||
if len(head_frames) != len(self.head_cameras): |
|||
break |
|||
head_color = cv2.hconcat(head_frames) |
|||
|
|||
if self.wrist_cameras: |
|||
wrist_frames = [] |
|||
for cam in self.wrist_cameras: |
|||
if self.wrist_camera_type == 'opencv': |
|||
color_image = cam.get_frame() |
|||
if color_image is None: |
|||
logger_mp.error("[Image Server] Wrist camera frame read is error.") |
|||
break |
|||
elif self.wrist_camera_type == 'realsense': |
|||
color_image, depth_iamge = cam.get_frame() |
|||
if color_image is None: |
|||
logger_mp.error("[Image Server] Wrist camera frame read is error.") |
|||
break |
|||
wrist_frames.append(color_image) |
|||
wrist_color = cv2.hconcat(wrist_frames) |
|||
|
|||
# Concatenate head and wrist frames |
|||
full_color = cv2.hconcat([head_color, wrist_color]) |
|||
else: |
|||
full_color = head_color |
|||
|
|||
ret, buffer = cv2.imencode('.jpg', full_color) |
|||
if not ret: |
|||
logger_mp.error("[Image Server] Frame imencode is failed.") |
|||
continue |
|||
|
|||
jpg_bytes = buffer.tobytes() |
|||
|
|||
if self.Unit_Test: |
|||
timestamp = time.time() |
|||
frame_id = self.frame_count |
|||
header = struct.pack('dI', timestamp, frame_id) # 8-byte double, 4-byte unsigned int |
|||
message = header + jpg_bytes |
|||
else: |
|||
message = jpg_bytes |
|||
|
|||
self.socket.send(message) |
|||
|
|||
if self.Unit_Test: |
|||
current_time = time.time() |
|||
self._update_performance_metrics(current_time) |
|||
self._print_performance_metrics(current_time) |
|||
|
|||
except KeyboardInterrupt: |
|||
logger_mp.warning("[Image Server] Interrupted by user.") |
|||
finally: |
|||
self._close() |
|||
|
|||
|
|||
if __name__ == "__main__": |
|||
config = { |
|||
'fps': 30, |
|||
'head_camera_type': 'opencv', |
|||
'head_camera_image_shape': [480, 1280], # Head camera resolution |
|||
'head_camera_id_numbers': [0], |
|||
'wrist_camera_type': 'opencv', |
|||
'wrist_camera_image_shape': [480, 640], # Wrist camera resolution |
|||
'wrist_camera_id_numbers': [2, 4], |
|||
} |
|||
|
|||
server = ImageServer(config, Unit_Test=False) |
|||
server.send_process() |
|||
@ -1 +1 @@ |
|||
Subproject commit 86367f8c9ba248f4065b959bfc53e5f36339bf6d |
|||
Subproject commit cb38fa12763ab989d7c1705b9d9a4318f5391170 |
|||
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