76 lines
2.2 KiB
Python
76 lines
2.2 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import platform
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from pathlib import Path
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from typing import TypeAlias
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import numpy as np
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from PIL import Image
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from .camera import Camera
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from .configs import CameraConfig, Cv2Rotation
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IndexOrPath: TypeAlias = int | Path
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def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[str, Camera]:
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cameras = {}
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for key, cfg in camera_configs.items():
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if cfg.type == "opencv":
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from .opencv import OpenCVCamera
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cameras[key] = OpenCVCamera(cfg)
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elif cfg.type == "intelrealsense":
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from .realsense.camera_realsense import RealSenseCamera
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cameras[key] = RealSenseCamera(cfg)
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else:
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raise ValueError(f"The motor type '{cfg.type}' is not valid.")
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return cameras
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def get_cv2_rotation(rotation: Cv2Rotation) -> int | None:
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import cv2
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if rotation == Cv2Rotation.ROTATE_90:
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return cv2.ROTATE_90_CLOCKWISE
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elif rotation == Cv2Rotation.ROTATE_180:
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return cv2.ROTATE_180
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elif rotation == Cv2Rotation.ROTATE_270:
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return cv2.ROTATE_90_COUNTERCLOCKWISE
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else:
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return None
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def get_cv2_backend() -> int:
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import cv2
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if platform.system() == "Windows":
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return cv2.CAP_AVFOUNDATION
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else:
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return cv2.CAP_ANY
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def save_image(img_array: np.ndarray, camera_index: int, frame_index: int, images_dir: Path):
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img = Image.fromarray(img_array)
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path = images_dir / f"camera_{camera_index:02d}_frame_{frame_index:06d}.png"
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path.parent.mkdir(parents=True, exist_ok=True)
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img.save(str(path), quality=100)
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