38 lines
1,000 B
Python
38 lines
1,000 B
Python
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from dataclasses import dataclass
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from typing import Tuple
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import numpy as np
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import tyro
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from gello.zmq_core.camera_node import ZMQClientCamera
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@dataclass
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class Args:
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ports: Tuple[int, ...] = (5000, 5001)
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hostname: str = "127.0.0.1"
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# hostname: str = "128.32.175.167"
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def main(args):
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cameras = []
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import cv2
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images_display_names = []
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for port in args.ports:
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cameras.append(ZMQClientCamera(port=port, host=args.hostname))
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images_display_names.append(f"image_{port}")
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cv2.namedWindow(images_display_names[-1], cv2.WINDOW_NORMAL)
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while True:
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for display_name, camera in zip(images_display_names, cameras):
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image, depth = camera.read()
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stacked_depth = np.dstack([depth, depth, depth]).astype(np.uint8)
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image_depth = cv2.hconcat([image[:, :, ::-1], stacked_depth])
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cv2.imshow(display_name, image_depth)
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cv2.waitKey(1)
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if __name__ == "__main__":
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main(tyro.cli(Args))
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