Created realsense interface #44
Conversation
|
|
||
|
|
||
| def _capture_loop(self): | ||
| assert self._pipeline is not None |
There was a problem hiding this comment.
Please add full function comment. See software conventions
| break | ||
|
|
||
|
|
||
| def _now_ns() -> int: |
There was a problem hiding this comment.
Please add full function comment. See software conventions
|
|
||
| cur_dir = os.path.dirname(__file__) | ||
| # TODO:Update this config with the correct numbers | ||
| config_path = os.path.join(cur_dir, "config", "realsense_config.yaml") |
There was a problem hiding this comment.
Update this yaml with the correct numbers.
| self._thread = threading.Thread(target=self._capture_loop, name="RealSenseCapture", daemon=True) | ||
| self._thread.start() | ||
|
|
||
| ... |
There was a problem hiding this comment.
Remove all these .... They were placeholders
| from sensor_interface.camera.rgbd_camera import CameraIntrinsics, RGBDCameraInterface, RGBDFrame | ||
|
|
||
| try: | ||
| import pyrealsense2 as rs |
There was a problem hiding this comment.
Please add this dependency to the pyproject.toml
schromya
left a comment
schromya
left a comment
There was a problem hiding this comment.
These files do not run due to the following error. Please avoid submitting PRs with files that cannot run due to errors.
Exception in thread RealsenseCaptureLoop:
Traceback (most recent call last):
File "/home/mya/Desktop/github/HCI/dexterity-interface/libs/sensor_interface/sensor_interface_py/src/sensor_interface/camera/realsense_interface.py", line 292, in _capture_loop
frame = RGBDFrame(
^^^^^^^^^^
TypeError: RGBDFrame.__init__() got an unexpected keyword argument 'timestamp_ns'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/usr/lib/python3.11/threading.py", line 1038, in _bootstrap_inner
self.run()
File "/usr/lib/python3.11/threading.py", line 975, in run
self._target(*self._args, **self._kwargs)
File "/home/mya/Desktop/github/HCI/dexterity-interface/libs/sensor_interface/sensor_interface_py/src/sensor_interface/camera/realsense_interface.py", line 299, in _capture_loop
frame = RGBDFrame(color_rgb, depth_m, ts_ns)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
TypeError: RGBDFrame.__init__() missing 1 required positional argument: 'frame_id'
Traceback (most recent call last):
File "<frozen runpy>", line 198, in _run_module_as_main
File "<frozen runpy>", line 88, in _run_code
File "/home/mya/Desktop/github/HCI/dexterity-interface/libs/sensor_interface/sensor_interface_py/src/sensor_interface/camera/realsense_interface.py", line 319, in <module>
f = cam.latest()
^^^^^^^^^^^^
File "/home/mya/Desktop/github/HCI/dexterity-interface/libs/sensor_interface/sensor_interface_py/src/sensor_interface/camera/realsense_interface.py", line 236, in latest
raise RuntimeError("No frame captured yet. Did you call start() and wait briefly?")
RuntimeError: No frame captured yet. Did you call start() and wait briefly?| import argparse | ||
| import time | ||
|
|
||
| import cv2 |
There was a problem hiding this comment.
This dependency needs to be added to pyproject.toml.
There was a problem hiding this comment.
Please add instructions for running this file, along with arg description to sensor_interface/readme.md.
Also, this file shares a lot of overlap with the kinect equivalent. Either extract shared functionality or adjust so the same example can run either interface based off of arg passed (i.e. kinect or realsense).
Creating a realsense interface