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camera.py
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camera.py
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import pyrealsense2 as rs
import numpy as np
import cv2
import matplotlib.pyplot as plt
import pdb
class Camera(object):
def __init__(self):
self.pipeline = rs.pipeline()
self.config = rs.config()
self.config.enable_stream(rs.stream.depth,1280,720,rs.format.z16,30)
self.config.enable_stream(rs.stream.color,1280,720,rs.format.bgr8,30)
self.align_to = rs.stream.color
self.align = rs.align(self.align_to)
self.pipeline_profile = self.pipeline.start(self.config)
self.device = self.pipeline_profile.get_device()
advanced_mode = rs.rs400_advanced_mode(self.device)
self.mtx = np.load('config/franka_d415mtx.npy')
# pdb.set_trace()
with open(r"config/d435_high_accuracy.json", 'r') as file:
json_text = file.read().strip()
advanced_mode.load_json(json_text)
self.hole_filling = rs.hole_filling_filter()
align_to = rs.stream.color
self.align = rs.align(align_to)
# cam init
print('cam init ...')
i = 60
while i>0:
frames = self.pipeline.wait_for_frames()
aligned_frames = self.align.process(frames)
depth_frame = aligned_frames.get_depth_frame()
color_frame = aligned_frames.get_color_frame()
if not depth_frame or not color_frame:
continue
depth_image = np.asanyarray(depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
i -= 1
print('cam init done.')
def get_data(self, hole_filling=False):
while True:
frames = self.pipeline.wait_for_frames()
aligned_frames = self.align.process(frames)
depth_frame = aligned_frames.get_depth_frame()
if hole_filling:
depth_frame = self.hole_filling.process(depth_frame)
color_frame = aligned_frames.get_color_frame()
if not depth_frame or not color_frame:
continue
depth_image = np.asanyarray(depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
break
return color_image, depth_image
def inpaint(self, img, missing_value=0):
'''
pip opencv-python == 3.4.8.29
:param image:
:param roi: [x0,y0,x1,y1]
:param missing_value:
:return:
'''
# cv2 inpainting doesn't handle the border properly
# https://stackoverflow.com/questions/25974033/inpainting-depth-map-still-a-black-image-border
img = cv2.copyMakeBorder(img, 1, 1, 1, 1, cv2.BORDER_DEFAULT)
mask = (img == missing_value).astype(np.uint8)
# Scale to keep as float, but has to be in bounds -1:1 to keep opencv happy.
scale = np.abs(img).max()
if scale < 1e-3:
pdb.set_trace()
img = img.astype(np.float32) / scale # Has to be float32, 64 not supported.
img = cv2.inpaint(img, mask, 1, cv2.INPAINT_NS)
# Back to original size and value range.
img = img[1:-1, 1:-1]
img = img * scale
return img
def getXYZRGB(self,color, depth, robot_pose,camee_pose,camIntrinsics,inpaint=True):
'''
:param color:
:param depth:
:param robot_pose: array 4*4
:param camee_pose: array 4*4
:param camIntrinsics: array 3*3
:param inpaint: bool
:return: xyzrgb
'''
heightIMG, widthIMG, _ = color.shape
# heightIMG = 720
# widthIMG = 1280
depthImg = depth / 1000.
# depthImg = depth
if inpaint:
depthImg = self.inpaint(depthImg)
robot_pose = np.dot(robot_pose, camee_pose)
[pixX, pixY] = np.meshgrid(np.arange(widthIMG), np.arange(heightIMG))
camX = (pixX - camIntrinsics[0][2]) * depthImg / camIntrinsics[0][0]
camY = (pixY - camIntrinsics[1][2]) * depthImg / camIntrinsics[1][1]
camZ = depthImg
camPts = [camX.reshape(camX.shape + (1,)), camY.reshape(camY.shape + (1,)), camZ.reshape(camZ.shape + (1,))]
camPts = np.concatenate(camPts, 2)
camPts = camPts.reshape((camPts.shape[0] * camPts.shape[1], camPts.shape[2])) # shape = (heightIMG*widthIMG, 3)
worldPts = np.dot(robot_pose[:3, :3], camPts.transpose()) + robot_pose[:3, 3].reshape(3,
1) # shape = (3, heightIMG*widthIMG)
rgb = color.reshape((-1, 3)) / 255.
xyzrgb = np.hstack((worldPts.T, rgb))
xyzrgb = self.getleft(xyzrgb)
return xyzrgb
def getleft(self, obj1):
index = np.bitwise_and(obj1[:, 0] < 1.2, obj1[:, 0] > 0.2)
index = np.bitwise_and(obj1[:, 1] < 0.5, index)
index = np.bitwise_and(obj1[:, 1] > -0.5, index)
# index = np.bitwise_and(obj1[:, 2] > -0.1, index)
index = np.bitwise_and(obj1[:, 2] > 0.24, index)
index = np.bitwise_and(obj1[:, 2] < 0.6, index)
return obj1[index]
def getIntrinsics(self):
frames = self.pipeline.wait_for_frames()
aligned_frames = self.align.process(frames)
color_frame = aligned_frames.get_color_frame()
intrinsics = color_frame.get_profile().as_video_stream_profile().get_intrinsics()
mtx = [intrinsics.width,intrinsics.height,intrinsics.ppx,intrinsics.ppy,intrinsics.fx,intrinsics.fy]
camIntrinsics = np.array([[mtx[4],0,mtx[2]],
[0,mtx[5],mtx[3]],
[0,0,1.]])
return camIntrinsics
def __del__(self):
self.pipeline.stop()
class CameraL515(object):
def __init__(self):
self.pipeline = rs.pipeline()
self.config = rs.config()
self.config.enable_stream(rs.stream.depth,1024, 768,rs.format.z16,30)
self.config.enable_stream(rs.stream.color,1280,720,rs.format.bgr8,30)
self.align_to = rs.stream.color
self.align = rs.align(self.align_to)
self.pipeline_profile = self.pipeline.start(self.config)
self.device = self.pipeline_profile.get_device()
# advanced_mode = rs.rs400_advanced_mode(self.device)
self.mtx = np.load('config/franka_l515mtx.npy')
# pdb.set_trace()
# with open(r"config/d435_high_accuracy.json", 'r') as file:
# json_text = file.read().strip()
# advanced_mode.load_json(json_text)
self.hole_filling = rs.hole_filling_filter()
align_to = rs.stream.color
self.align = rs.align(align_to)
# cam init
print('cam init ...')
i = 60
while i>0:
frames = self.pipeline.wait_for_frames()
aligned_frames = self.align.process(frames)
depth_frame = aligned_frames.get_depth_frame()
color_frame = aligned_frames.get_color_frame()
# pdb.set_trace()
color_frame.get_profile().as_video_stream_profile().get_intrinsics()
if not depth_frame or not color_frame:
continue
depth_image = np.asanyarray(depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
i -= 1
print('cam init done.')
# pdb.set_trace()
def getIntrinsics(self):
frames = self.pipeline.wait_for_frames()
aligned_frames = self.align.process(frames)
color_frame = aligned_frames.get_color_frame()
intrinsics = color_frame.get_profile().as_video_stream_profile().get_intrinsics()
mtx = [intrinsics.width,intrinsics.height,intrinsics.ppx,intrinsics.ppy,intrinsics.fx,intrinsics.fy]
camIntrinsics = np.array([[mtx[4],0,mtx[2]],
[0,mtx[5],mtx[3]],
[0,0,1.]])
return camIntrinsics
def get_data(self, hole_filling=False):
while True:
frames = self.pipeline.wait_for_frames()
aligned_frames = self.align.process(frames)
depth_frame = aligned_frames.get_depth_frame()
if hole_filling:
depth_frame = self.hole_filling.process(depth_frame)
color_frame = aligned_frames.get_color_frame()
if not depth_frame or not color_frame:
continue
depth_image = np.asanyarray(depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
break
return color_image, depth_image
def get_data1(self, hole_filling=False):
while True:
frames = self.pipeline.wait_for_frames()
# aligned_frames = self.align.process(frames)
# depth_frame = aligned_frames.get_depth_frame()
# if hole_filling:
# depth_frame = self.hole_filling.process(depth_frame)
# color_frame = aligned_frames.get_color_frame()
depth_frame = frames.get_depth_frame()
color_frame = frames.get_color_frame()
if not depth_frame or not color_frame:
continue
colorizer = rs.colorizer()
depth_image = np.asanyarray(colorizer.colorize(depth_frame).get_data())
# depth_image = np.asanyarray(depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
break
return color_image, depth_image
def inpaint(self, img, missing_value=0):
'''
pip opencv-python == 3.4.8.29
:param image:
:param roi: [x0,y0,x1,y1]
:param missing_value:
:return:
'''
# cv2 inpainting doesn't handle the border properly
# https://stackoverflow.com/questions/25974033/inpainting-depth-map-still-a-black-image-border
img = cv2.copyMakeBorder(img, 1, 1, 1, 1, cv2.BORDER_DEFAULT)
mask = (img == missing_value).astype(np.uint8)
# Scale to keep as float, but has to be in bounds -1:1 to keep opencv happy.
scale = np.abs(img).max()
if scale < 1e-3:
pdb.set_trace()
img = img.astype(np.float32) / scale # Has to be float32, 64 not supported.
img = cv2.inpaint(img, mask, 1, cv2.INPAINT_NS)
# Back to original size and value range.
img = img[1:-1, 1:-1]
img = img * scale
return img
def getXYZRGB(self,color, depth, robot_pose,camee_pose,camIntrinsics,inpaint=True):
'''
:param color:
:param depth:
:param robot_pose: array 4*4
:param camee_pose: array 4*4
:param camIntrinsics: array 3*3
:param inpaint: bool
:return: xyzrgb
'''
heightIMG, widthIMG, _ = color.shape
# pdb.set_trace()
# heightIMG = 720
# widthIMG = 1280
depthImg = depth / 10000.
# depthImg = depth
if inpaint:
depthImg = self.inpaint(depthImg)
robot_pose = np.dot(robot_pose, camee_pose)
[pixX, pixY] = np.meshgrid(np.arange(widthIMG), np.arange(heightIMG))
camX = (pixX - camIntrinsics[0][2]) * depthImg / camIntrinsics[0][0]
camY = (pixY - camIntrinsics[1][2]) * depthImg / camIntrinsics[1][1]
camZ = depthImg
camPts = [camX.reshape(camX.shape + (1,)), camY.reshape(camY.shape + (1,)), camZ.reshape(camZ.shape + (1,))]
camPts = np.concatenate(camPts, 2)
camPts = camPts.reshape((camPts.shape[0] * camPts.shape[1], camPts.shape[2])) # shape = (heightIMG*widthIMG, 3)
worldPts = np.dot(robot_pose[:3, :3], camPts.transpose()) + robot_pose[:3, 3].reshape(3,
1) # shape = (3, heightIMG*widthIMG)
rgb = color.reshape((-1, 3)) / 255.
xyzrgb = np.hstack((worldPts.T, rgb))
# xyzrgb = self.getleft(xyzrgb)
return xyzrgb
def getleft(self, obj1):
index = np.bitwise_and(obj1[:, 0] < 1.2, obj1[:, 0] > 0.2)
index = np.bitwise_and(obj1[:, 1] < 0.5, index)
index = np.bitwise_and(obj1[:, 1] > -0.5, index)
# index = np.bitwise_and(obj1[:, 2] > -0.1, index)
index = np.bitwise_and(obj1[:, 2] > 0.24, index)
index = np.bitwise_and(obj1[:, 2] < 0.6, index)
return obj1[index]
def __del__(self):
self.pipeline.stop()
def vis_pc(pc):
import open3d as o3d
pc1 = o3d.geometry.PointCloud()
pc1.points = o3d.utility.Vector3dVector(pc)
o3d.visualization.draw_geometries([pc1])
if __name__ == "__main__":
cam = Camera()
while True:
color, depth = cam.get_data(hole_filling=False)
pdb.set_trace()
plt.imshow(depth)
plt.show()
depth_sensor = cam.pipeline_profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth scale is: ", depth_scale)
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth, alpha=0.03),cv2.COLORMAP_JET)
xyzrgb = cam.getXYZRGB(color, depth, np.identity(4), np.identity(4), cam.getIntrinsics(), inpaint=False)
# vis_pc(xyzrgb[:,:3])
# pdb.set_trace()
# pdb.set_trace()
# cv2.imwrite('../opencv-examples/image/maker1.jpg', color)
cv2.namedWindow('depth')
cv2.imshow('depth', depth_colormap)
cv2.namedWindow('color')
cv2.imshow('color', color)
cv2.waitKey(1)