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from typing import Optional, Callable, Dict
import os
import enum
import time
import json
import numpy as np
import pyrealsense2 as rs
import multiprocess as mp
import cv2
from threadpoolctl import threadpool_limits
from multiprocess.managers import SharedMemoryManager
from .utils import get_accumulate_timestamp_idxs
from .shared_memory.shared_ndarray import SharedNDArray
from .shared_memory.shared_memory_ring_buffer import SharedMemoryRingBuffer
from .shared_memory.shared_memory_queue import SharedMemoryQueue, Full, Empty
class Command(enum.Enum):
SET_COLOR_OPTION = 0
SET_DEPTH_OPTION = 1
START_RECORDING = 2
STOP_RECORDING = 3
RESTART_PUT = 4
class SingleRealsense(mp.Process):
MAX_PATH_LENGTH = 4096 # linux path has a limit of 4096 bytes
def __init__(
self,
shm_manager: SharedMemoryManager,
serial_number,
resolution=(1280,720),
capture_fps=30,
put_fps=None,
put_downsample=True,
enable_color=True,
enable_depth=False,
process_depth=False,
enable_infrared=False,
get_max_k=30,
advanced_mode_config=None,
transform: Optional[Callable[[Dict], Dict]] = None,
vis_transform: Optional[Callable[[Dict], Dict]] = None,
is_master=False,
verbose=False
):
super().__init__()
if put_fps is None:
put_fps = capture_fps
# create ring buffer
resolution = tuple(resolution)
shape = resolution[::-1]
examples = dict()
if enable_color:
examples['color'] = np.empty(
shape=shape+(3,), dtype=np.uint8)
if enable_depth:
examples['depth'] = np.empty(
shape=shape, dtype=np.uint16)
if enable_infrared:
examples['infrared'] = np.empty(
shape=shape, dtype=np.uint8)
examples['camera_capture_timestamp'] = 0.0
examples['camera_receive_timestamp'] = 0.0
examples['timestamp'] = 0.0
examples['step_idx'] = 0
ring_buffer = SharedMemoryRingBuffer.create_from_examples(
shm_manager=shm_manager,
examples=examples if transform is None
else transform(dict(examples)),
get_max_k=get_max_k,
get_time_budget=0.2,
put_desired_frequency=put_fps
)
# create command queue
examples = {
'cmd': Command.SET_COLOR_OPTION.value,
'option_enum': rs.option.exposure.value,
'option_value': 0.0,
'put_start_time': 0.0
}
command_queue = SharedMemoryQueue.create_from_examples(
shm_manager=shm_manager,
examples=examples,
buffer_size=128
)
# create shared array for intrinsics
intrinsics_array = SharedNDArray.create_from_shape(
mem_mgr=shm_manager,
shape=(7,),
dtype=np.float64)
intrinsics_array.get()[:] = 0
# copied variables
self.serial_number = serial_number
self.resolution = resolution
self.capture_fps = capture_fps
self.put_fps = put_fps
self.put_downsample = put_downsample
self.enable_color = enable_color
self.enable_depth = enable_depth
self.enable_infrared = enable_infrared
self.advanced_mode_config = advanced_mode_config
self.transform = transform
self.vis_transform = vis_transform
self.process_depth = process_depth
self.is_master = is_master
self.verbose = verbose
self.put_start_time = None
# shared variables
self.stop_event = mp.Event()
self.ready_event = mp.Event()
self.ring_buffer = ring_buffer
self.command_queue = command_queue
self.intrinsics_array = intrinsics_array
@staticmethod
def get_connected_devices_serial():
serials = list()
for d in rs.context().devices:
if d.get_info(rs.camera_info.name).lower() != 'platform camera':
serial = d.get_info(rs.camera_info.serial_number)
product_line = d.get_info(rs.camera_info.product_line)
if product_line == 'D400':
# only works with D400 series
serials.append(serial)
serials = sorted(serials)
return serials
# ========= context manager ===========
def __enter__(self):
self.start()
return self
def __exit__(self, exc_type, exc_val, exc_tb):
self.stop()
# ========= user API ===========
def start(self, wait=True, put_start_time=None):
self.put_start_time = put_start_time
super().start()
if wait:
self.start_wait()
def stop(self, wait=True):
self.stop_event.set()
if wait:
self.end_wait()
def start_wait(self):
self.ready_event.wait()
def end_wait(self):
self.join()
@property
def is_ready(self):
return self.ready_event.is_set()
def get(self, k=None, out=None):
if k is None:
return self.ring_buffer.get(out=out)
else:
return self.ring_buffer.get_last_k(k, out=out)
# ========= user API ===========
def set_color_option(self, option: rs.option, value: float):
self.command_queue.put({
'cmd': Command.SET_COLOR_OPTION.value,
'option_enum': option.value,
'option_value': value
})
def set_exposure(self, exposure=None, gain=None):
"""
exposure: (1, 10000) 100us unit. (0.1 ms, 1/10000s)
gain: (0, 128)
"""
if exposure is None and gain is None:
# auto exposure
self.set_color_option(rs.option.enable_auto_exposure, 1.0)
else:
# manual exposure
self.set_color_option(rs.option.enable_auto_exposure, 0.0)
if exposure is not None:
self.set_color_option(rs.option.exposure, exposure)
if gain is not None:
self.set_color_option(rs.option.gain, gain)
def set_white_balance(self, white_balance=None):
if white_balance is None:
self.set_color_option(rs.option.enable_auto_white_balance, 1.0)
else:
self.set_color_option(rs.option.enable_auto_white_balance, 0.0)
self.set_color_option(rs.option.white_balance, white_balance)
def get_intrinsics(self):
assert self.ready_event.is_set()
fx, fy, ppx, ppy = self.intrinsics_array.get()[:4]
mat = np.eye(3)
mat[0,0] = fx
mat[1,1] = fy
mat[0,2] = ppx
mat[1,2] = ppy
return mat
def get_depth_scale(self):
assert self.ready_event.is_set()
scale = self.intrinsics_array.get()[-1]
return scale
def depth_process(self, depth_frame):
depth_to_disparity = rs.disparity_transform(True)
disparity_to_depth = rs.disparity_transform(False)
spatial = rs.spatial_filter()
spatial.set_option(rs.option.filter_magnitude, 5)
spatial.set_option(rs.option.filter_smooth_alpha, 0.75)
spatial.set_option(rs.option.filter_smooth_delta, 1)
spatial.set_option(rs.option.holes_fill, 1)
temporal = rs.temporal_filter()
temporal.set_option(rs.option.filter_smooth_alpha, 0.75)
temporal.set_option(rs.option.filter_smooth_delta, 1)
filtered_depth = depth_to_disparity.process(depth_frame)
filtered_depth = spatial.process(filtered_depth)
filtered_depth = temporal.process(filtered_depth)
filtered_depth = disparity_to_depth.process(filtered_depth)
return filtered_depth
def restart_put(self, start_time):
self.command_queue.put({
'cmd': Command.RESTART_PUT.value,
'put_start_time': start_time
})
# ========= interval API ===========
def run(self):
# limit threads
threadpool_limits(1)
cv2.setNumThreads(1)
w, h = self.resolution
fps = self.capture_fps
align = rs.align(rs.stream.color)
# Enable the streams from all the intel realsense devices
rs_config = rs.config()
if self.enable_color:
rs_config.enable_stream(rs.stream.color,
w, h, rs.format.bgr8, fps)
if self.enable_depth:
rs_config.enable_stream(rs.stream.depth,
w, h, rs.format.z16, fps)
if self.enable_infrared:
rs_config.enable_stream(rs.stream.infrared,
w, h, rs.format.y8, fps)
def init_device():
rs_config.enable_device(self.serial_number)
# start pipeline
pipeline = rs.pipeline()
pipeline_profile = pipeline.start(rs_config)
self.pipeline = pipeline
self.pipeline_profile = pipeline_profile
# report global time
# https://github.com/IntelRealSense/librealsense/pull/3909
d = self.pipeline_profile.get_device().first_color_sensor()
d.set_option(rs.option.global_time_enabled, 1)
# setup advanced mode
if self.advanced_mode_config is not None:
json_text = json.dumps(self.advanced_mode_config)
device = self.pipeline_profile.get_device()
advanced_mode = rs.rs400_advanced_mode(device)
advanced_mode.load_json(json_text)
# get
color_stream = self.pipeline_profile.get_stream(rs.stream.color)
intr = color_stream.as_video_stream_profile().get_intrinsics()
order = ['fx', 'fy', 'ppx', 'ppy', 'height', 'width']
for i, name in enumerate(order):
self.intrinsics_array.get()[i] = getattr(intr, name)
if self.enable_depth:
depth_sensor = self.pipeline_profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
self.intrinsics_array.get()[-1] = depth_scale
# one-time setup (intrinsics etc, ignore for now)
if self.verbose:
print(f'[SingleRealsense {self.serial_number}] Main loop started.')
try:
init_device()
# put frequency regulation
put_idx = None
put_start_time = self.put_start_time
if put_start_time is None:
put_start_time = time.time()
iter_idx = 0
t_start = time.time()
while not self.stop_event.is_set():
# wait for frames to come in
frameset = None
while frameset is None:
try:
frameset = self.pipeline.wait_for_frames()
except RuntimeError as e:
print(f'[SingleRealsense {self.serial_number}] Error: {e}. Ready state: {self.ready_event.is_set()}, Restarting device.')
device = self.pipeline.get_active_profile().get_device()
device.hardware_reset()
self.pipeline.stop()
init_device()
continue
receive_time = time.time()
# align frames to color
frameset = align.process(frameset)
self.ring_buffer.ready_for_get = (receive_time - put_start_time >= 0)
# grab data
if self.verbose:
grad_start_time = time.time()
data = dict()
data['camera_receive_timestamp'] = receive_time
# realsense report in ms
data['camera_capture_timestamp'] = frameset.get_timestamp() / 1000
if self.enable_color:
# print(time.time())
color_frame = frameset.get_color_frame()
data['color'] = np.asarray(color_frame.get_data())
t = color_frame.get_timestamp() / 1000
data['camera_capture_timestamp'] = t
# print('device', time.time() - t)
# print(color_frame.get_frame_timestamp_domain())
if self.enable_depth:
depth_frame = frameset.get_depth_frame()
if self.process_depth:
data['depth'] = self.depth_process(depth_frame)
data['depth'] = np.asarray(depth_frame.get_data())
# data['depth'] = np.asarray(
# frameset.get_depth_frame().get_data())
if self.enable_infrared:
data['infrared'] = np.asarray(
frameset.get_infrared_frame().get_data())
if self.verbose:
print(f'[SingleRealsense {self.serial_number}] Grab data time {time.time() - grad_start_time}')
# apply transform
if self.verbose:
transform_start_time = time.time()
put_data = data
if self.transform is not None:
put_data = self.transform(dict(data))
if self.verbose:
print(f'[SingleRealsense {self.serial_number}] Transform time {time.time() - transform_start_time}')
if self.verbose:
put_data_start_time = time.time()
if self.put_downsample:
# put frequency regulation
# print(self.serial_number, put_start_time, put_idx, len(global_idxs))
local_idxs, global_idxs, put_idx \
= get_accumulate_timestamp_idxs(
timestamps=[receive_time],
start_time=put_start_time,
dt=1/self.put_fps,
# this is non in first iteration
# and then replaced with a concrete number
next_global_idx=put_idx,
# continue to pump frames even if not started.
# start_time is simply used to align timestamps.
allow_negative=True
)
for step_idx in global_idxs:
put_data['step_idx'] = step_idx
# put_data['timestamp'] = put_start_time + step_idx / self.put_fps
put_data['timestamp'] = receive_time
# print(step_idx, data['timestamp'])
self.ring_buffer.put(put_data, wait=False, serial_number=self.serial_number)
else:
step_idx = int((receive_time - put_start_time) * self.put_fps)
print(step_idx, receive_time)
put_data['step_idx'] = step_idx
put_data['timestamp'] = receive_time
self.ring_buffer.put(put_data, wait=False, serial_number=self.serial_number)
if self.verbose:
print(f'[SingleRealsense {self.serial_number}] Put data time {time.time() - put_data_start_time}', end=' ')
print(f'with downsample for {len(global_idxs)}x' if self.put_downsample and len(global_idxs) > 1 else '')
# signal ready
if iter_idx == 0:
self.ready_event.set()
# perf
t_end = time.time()
duration = t_end - t_start
frequency = np.round(1 / duration, 1)
t_start = t_end
if self.verbose:
print(f'[SingleRealsense {self.serial_number}] FPS {frequency}')
# fetch command from queue
try:
commands = self.command_queue.get_all()
n_cmd = len(commands['cmd'])
except Empty:
n_cmd = 0
# execute commands
for i in range(n_cmd):
command = dict()
for key, value in commands.items():
command[key] = value[i]
cmd = command['cmd']
if cmd == Command.SET_COLOR_OPTION.value:
sensor = self.pipeline_profile.get_device().first_color_sensor()
option = rs.option(command['option_enum'])
value = float(command['option_value'])
sensor.set_option(option, value)
# print('auto', sensor.get_option(rs.option.enable_auto_exposure))
# print('exposure', sensor.get_option(rs.option.exposure))
# print('gain', sensor.get_option(rs.option.gain))
elif cmd == Command.SET_DEPTH_OPTION.value:
sensor = self.pipeline_profile.get_device().first_depth_sensor().set_option(rs.option.inter_cam_sync_mode, 1 if self.is_master else 2)
option = rs.option(command['option_enum'])
value = float(command['option_value'])
sensor.set_option(option, value)
elif cmd == Command.RESTART_PUT.value:
put_idx = None
put_start_time = command['put_start_time']
iter_idx += 1
finally:
rs_config.disable_all_streams()
self.ready_event.set()
if self.verbose:
print(f'[SingleRealsense {self.serial_number}] Exiting worker process.')
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