1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
|
// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include <memory>
#include "open3d/geometry/RGBDImage.h"
#include "open3d/t/io/sensor/RGBDSensor.h"
#include "open3d/t/io/sensor/RGBDVideoReader.h"
#ifdef BUILD_LIBREALSENSE
#include "open3d/t/io/sensor/realsense/RSBagReader.h"
#include "open3d/t/io/sensor/realsense/RealSenseSensor.h"
#include "open3d/t/io/sensor/realsense/RealSenseSensorConfig.h"
#endif
#include "pybind/docstring.h"
#include "pybind/t/io/io.h"
namespace open3d {
namespace t {
namespace io {
void pybind_sensor(py::module &m) {
static const std::unordered_map<std::string, std::string>
map_shared_argument_docstrings = {
{"timestamp", "Timestamp in the video (usec)."},
{"filename", "Path to the RGBD video file."},
{"frame_path",
"Frames will be stored in stream subfolders 'color' and "
"'depth' here. The intrinsic camera calibration for the "
"color stream will be saved in 'intrinsic.json'"},
{"start_time_us",
"Start saving frames from this time (us)"},
{"end_time_us",
"(default video length) Save frames till this time (us)"},
{"buffer_size",
"Size of internal frame buffer, increase this if you "
"experience frame drops."}};
py::enum_<SensorType>(m, "SensorType", "Sensor type")
.value("AZURE_KINECT", SensorType::AZURE_KINECT)
.value("REAL_SENSE", SensorType::REAL_SENSE);
// Class RGBD video metadata
py::class_<RGBDVideoMetadata> rgbd_video_metadata(m, "RGBDVideoMetadata",
"RGBD Video metadata.");
rgbd_video_metadata.def(py::init<>())
.def_readwrite("intrinsics", &RGBDVideoMetadata::intrinsics_,
"Shared intrinsics between RGB & depth")
.def_readwrite("device_name", &RGBDVideoMetadata::device_name_,
"Capture device name")
.def_readwrite("serial_number", &RGBDVideoMetadata::serial_number_,
"Capture device serial number")
.def_readwrite("stream_length_usec",
&RGBDVideoMetadata::stream_length_usec_,
"Length of the video (usec). 0 for live capture.")
.def_readwrite("width", &RGBDVideoMetadata::width_,
"Width of the video")
.def_readwrite("height", &RGBDVideoMetadata::height_,
"Height of the video")
.def_readwrite("fps", &RGBDVideoMetadata::fps_,
"Video frame rate (common for both color and depth)")
.def_readwrite("color_format", &RGBDVideoMetadata::color_format_,
"Pixel format for color data")
.def_readwrite("color_dt", &RGBDVideoMetadata::color_dt_,
"Pixel Dtype for color data.")
.def_readwrite("depth_format", &RGBDVideoMetadata::depth_format_,
"Pixel format for depth data")
.def_readwrite("depth_dt", &RGBDVideoMetadata::depth_dt_,
"Pixel Dtype for depth data.")
.def_readwrite("depth_scale", &RGBDVideoMetadata::depth_scale_,
"Number of depth units per meter (depth in m = "
"depth_pixel_value/depth_scale).")
.def_readwrite("color_channels",
&RGBDVideoMetadata::color_channels_,
"Number of color channels.")
.def("__repr__", &RGBDVideoMetadata::ToString);
// RGBD video reader trampoline
class PyRGBDVideoReader : public RGBDVideoReader {
public:
using RGBDVideoReader::RGBDVideoReader;
bool IsOpened() const override {
PYBIND11_OVERLOAD_PURE(bool, RGBDVideoReader, );
}
bool IsEOF() const override {
PYBIND11_OVERLOAD_PURE(bool, RGBDVideoReader, );
}
bool Open(const std::string &filename) override {
PYBIND11_OVERLOAD_PURE(bool, RGBDVideoReader, Open, filename);
}
void Close() override {
PYBIND11_OVERLOAD_PURE(void, RGBDVideoReader, );
}
RGBDVideoMetadata &GetMetadata() override {
PYBIND11_OVERLOAD_PURE(RGBDVideoMetadata &, RGBDVideoReader, );
}
const RGBDVideoMetadata &GetMetadata() const override {
PYBIND11_OVERLOAD_PURE(const RGBDVideoMetadata &,
RGBDVideoReader, );
}
bool SeekTimestamp(uint64_t timestamp) override {
PYBIND11_OVERLOAD_PURE(bool, RGBDVideoReader, SeekTimestamp,
timestamp);
}
uint64_t GetTimestamp() const override {
PYBIND11_OVERLOAD_PURE(uint64_t, RGBDVideoReader, );
}
t::geometry::RGBDImage NextFrame() override {
PYBIND11_OVERLOAD_PURE(t::geometry::RGBDImage, RGBDVideoReader, );
}
std::string GetFilename() const override {
PYBIND11_OVERLOAD_PURE(std::string, RGBDVideoReader, );
}
};
// Class RGBD video reader
py::class_<RGBDVideoReader, PyRGBDVideoReader,
std::unique_ptr<RGBDVideoReader>>
rgbd_video_reader(m, "RGBDVideoReader", "RGBD Video file reader.");
rgbd_video_reader.def(py::init<>())
.def_static("create", &RGBDVideoReader::Create, "filename"_a,
"Create RGBD video reader based on filename")
.def("save_frames", &RGBDVideoReader::SaveFrames, "frame_path"_a,
"start_time_us"_a = 0, "end_time_us"_a = UINT64_MAX,
"Save synchronized and aligned individual frames to "
"subfolders.")
.def("__repr__", &RGBDVideoReader::ToString);
docstring::ClassMethodDocInject(m, "RGBDVideoReader", "create",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "RGBDVideoReader", "save_frames",
map_shared_argument_docstrings);
// Class RGBD sensor
py::class_<RGBDSensor> rgbd_sensor(
m, "RGBDSensor", "Interface class for control of RGBD cameras.");
rgbd_sensor.def("__repr__", &RGBDSensor::ToString);
#ifdef BUILD_LIBREALSENSE
// Class RS bag reader
py::class_<RSBagReader, std::unique_ptr<RSBagReader>, RGBDVideoReader>
rs_bag_reader(
m, "RSBagReader",
"RealSense Bag file reader.\n"
"\tOnly the first color and depth streams from the bag "
"file will be read.\n"
" - The streams must have the same frame rate.\n"
" - The color stream must have RGB 8 bit (RGB8/BGR8) pixel "
"format\n"
" - The depth stream must have 16 bit unsigned int (Z16) "
"pixel format\n"
"The output is synchronized color and depth frame pairs "
"with the depth frame aligned to the color frame. "
"Unsynchronized frames will be dropped. With alignment, "
"the depth and color frames have the same viewpoint and "
"resolution. See format documentation `here "
"<https://intelrealsense.github.io/librealsense/doxygen/"
"rs__sensor_8h.html#ae04b7887ce35d16dbd9d2d295d23aac7>`__"
"\n\n"
".. warning:: A few frames may be dropped if user code "
"takes a long time (>10 frame intervals) to process a "
"frame.");
rs_bag_reader.def(py::init<>())
.def(py::init<size_t>(),
"buffer_size"_a = RSBagReader::DEFAULT_BUFFER_SIZE)
.def("is_opened", &RSBagReader::IsOpened,
"Check if the RS bag file is opened.")
.def("open", &RSBagReader::Open,
py::call_guard<py::gil_scoped_release>(), "filename"_a,
"Open an RS bag playback.")
.def("close", &RSBagReader::Close,
"Close the opened RS bag playback.")
.def("is_eof", &RSBagReader::IsEOF,
"Check if the RS bag file is all read.")
.def_property(
"metadata",
py::overload_cast<>(&RSBagReader::GetMetadata, py::const_),
py::overload_cast<>(&RSBagReader::GetMetadata),
"Get metadata of the RS bag playback.")
.def("seek_timestamp", &RSBagReader::SeekTimestamp,
py::call_guard<py::gil_scoped_release>(), "timestamp"_a,
"Seek to the timestamp (in us).")
.def("get_timestamp", &RSBagReader::GetTimestamp,
"Get current timestamp (in us).")
.def("next_frame", &RSBagReader::NextFrame,
py::call_guard<py::gil_scoped_release>(),
"Get next frame from the RS bag playback and returns the RGBD "
"object.")
// Release Python GIL for SaveFrames, since this will take a while
.def("save_frames", &RSBagReader::SaveFrames,
py::call_guard<py::gil_scoped_release>(), "frame_path"_a,
"start_time_us"_a = 0, "end_time_us"_a = UINT64_MAX,
"Save synchronized and aligned individual frames to "
"subfolders.")
.def("__repr__", &RSBagReader::ToString);
docstring::ClassMethodDocInject(m, "RSBagReader", "__init__",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "RSBagReader", "open",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "RSBagReader", "seek_timestamp",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "RSBagReader", "save_frames",
map_shared_argument_docstrings);
// Class RealSenseSensorConfig
py::class_<RealSenseSensorConfig> realsense_sensor_config(
m, "RealSenseSensorConfig", "Configuration for a RealSense camera");
realsense_sensor_config.def(py::init<>(), "Default config will be used")
.def(py::init<const std::unordered_map<std::string, std::string>
&>(),
"config"_a, "Initialize config with a map");
py::class_<RealSenseValidConfigs> realsense_valid_configs(
m, "RealSenseValidConfigs",
"Store set of valid configuration options for a connected "
"RealSense device. From this structure, a user can construct a "
"RealSenseSensorConfig object meeting their specifications.");
realsense_valid_configs
.def_readwrite("serial", &RealSenseValidConfigs::serial,
"Device serial number.")
.def_readwrite("name", &RealSenseValidConfigs::name, "Device name.")
.def_readwrite("valid_configs",
&RealSenseValidConfigs::valid_configs,
"Mapping between configuration option name and a "
"list of valid values.");
// Class RealSenseSensor
py::class_<RealSenseSensor, RGBDSensor> realsense_sensor(
m, "RealSenseSensor",
"RealSense camera discovery, configuration, streaming and "
"recording");
realsense_sensor.def(py::init<>(), "Initialize with default settings.")
.def_static("list_devices", &RealSenseSensor::ListDevices,
py::call_guard<py::gil_scoped_release>(),
"List all RealSense cameras connected to the system "
"along with their capabilities. Use this listing to "
"select an appropriate configuration for a camera")
.def_static("enumerate_devices", &RealSenseSensor::EnumerateDevices,
py::call_guard<py::gil_scoped_release>(),
"Query all connected RealSense cameras for their "
"capabilities.")
.def("init_sensor",
py::overload_cast<const RGBDSensorConfig &, size_t,
const std::string &>(
&RealSenseSensor::InitSensor),
py::call_guard<py::gil_scoped_release>(),
"sensor_config"_a = RealSenseSensorConfig{},
"sensor_index"_a = 0, "filename"_a = "",
"Configure sensor with custom settings. If this is skipped, "
"default settings will be used. You can enable recording to a "
"bag file by specifying a filename.")
.def("init_sensor",
py::overload_cast<const RealSenseSensorConfig &, size_t,
const std::string &>(
&RealSenseSensor::InitSensor),
py::call_guard<py::gil_scoped_release>(),
"sensor_config"_a = RealSenseSensorConfig{},
"sensor_index"_a = 0, "filename"_a = "",
"Configure sensor with custom settings. If this is skipped, "
"default settings will be used. You can enable recording to a "
"bag file by specifying a filename.")
.def("start_capture", &RealSenseSensor::StartCapture,
py::call_guard<py::gil_scoped_release>(),
"start_record"_a = false,
"Start capturing synchronized depth and color frames.")
.def("pause_record", &RealSenseSensor::PauseRecord,
"Pause recording to the bag file. Note: If this is called "
"immediately after start_capture, the bag file may have an "
"incorrect end time.")
.def("resume_record", &RealSenseSensor::ResumeRecord,
"Resume recording to the bag file. The file will contain "
"discontinuous segments.")
.def("capture_frame", &RealSenseSensor::CaptureFrame,
py::call_guard<py::gil_scoped_release>(), "wait"_a = true,
"align_depth_to_color"_a = true,
"Acquire the next synchronized RGBD frameset from the camera.")
.def("get_timestamp", &RealSenseSensor::GetTimestamp,
"Get current timestamp (in us)")
.def("stop_capture", &RealSenseSensor::StopCapture,
py::call_guard<py::gil_scoped_release>(),
"Stop capturing frames.")
.def("get_metadata", &RealSenseSensor::GetMetadata,
"Get metadata of the RealSense video capture.")
.def("get_filename", &RealSenseSensor::GetFilename,
"Get filename being written.")
.def("__repr__", &RealSenseSensor::ToString);
docstring::ClassMethodDocInject(
m, "RealSenseSensor", "init_sensor",
{{"sensor_config",
"Camera configuration, such as resolution and framerate. A "
"serial number can be entered here to connect to a specific "
"camera."},
{"sensor_index",
"Connect to a camera at this position in the enumeration of "
"RealSense cameras that are currently connected. Use "
"enumerate_devices() or list_devices() to obtain a list of "
"connected cameras. This is ignored if sensor_config contains "
"a serial entry."},
{"filename", "Save frames to a bag file"}});
docstring::ClassMethodDocInject(
m, "RealSenseSensor", "start_capture",
{{"start_record",
"Start recording to the specified bag file as well."}});
docstring::ClassMethodDocInject(
m, "RealSenseSensor", "capture_frame",
{{"wait",
"If true wait for the next frame set, else return immediately "
"with an empty RGBDImage if it is not yet available."},
{"align_depth_to_color",
"Enable aligning WFOV depth image to the color image in "
"visualizer."}});
#endif
}
} // namespace io
} // namespace t
} // namespace open3d
|
