Create Mono and Ensenso Camera Classes

EnsensoCamera.py

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+import argparse
+import cv2 as cv
+
+import nxlib.api as api
+from nxlib import NxLibCommand, NxLibException, NxLibItem
+from nxlib.constants import *
+
+class EnsensoCamera():
+
+    # camera_serial_str = "216866" camera near the window
+    # camera_serial_str = "216865" camera near the door
+    def __init__(self, serial= "216866"):
+        self.camera_serial = serial
+        self.is_camera_init_done = False
+        self.depth_image_f32_3d = None
+        self.texture_image_u8_4d = None
+        self.rendered_point_map_width = 1024
+        self.rendered_point_map_height = 1280
+
+
+    def open_camera(self):
+
+        if self.is_camera_init_done == False:
+            try:
+                # Wait for the cameras to be initialized
+                api.initialize()
+
+                # Open the camera with the given serial
+                with NxLibCommand(CMD_OPEN) as cmd:
+                    cmd.parameters()[ITM_CAMERAS] = self.camera_serial
+                    cmd.execute()
+
+                self.is_camera_init_done = True
+            except NxLibException as e:
+                print(f"An NxLib error occured: Error Text: {e.get_error_text()}")
+            except Exception:
+                print("An NxLib unrelated error occured:\n")
+                raise
+
+
+    def close_camera(self):
+        if self.is_camera_init_done == True:
+            try:
+                # Closes all open cameras
+                with NxLibCommand(CMD_CLOSE) as cmd:
+                    cmd.execute()
+
+                self.is_camera_init_done = False
+            except NxLibException as e:
+                print(f"An NxLib error occured: Error Text: {e.get_error_text()}")
+            except Exception:
+                print("An NxLib unrelated error occured:\n")
+                raise
+
+
+    def capture(self):
+        if self.is_camera_init_done == True:
+            # Captures with the previous openend camera
+            with NxLibCommand(CMD_CAPTURE) as cmd:
+                cmd.parameters()[ITM_CAMERAS] = self.camera_serial
+                cmd.execute()
+
+            # Rectify the the captures raw images
+            with NxLibCommand(CMD_RECTIFY_IMAGES) as cmd:
+                cmd.execute()
+
+            # Compute the disparity map
+            with NxLibCommand(CMD_COMPUTE_DISPARITY_MAP) as cmd:
+                cmd.execute()
+
+            # get camera frame position/orientation relative to the robot frame
+            rotation_angle = NxLibItem()[ITM_CAMERAS][self.camera_serial][ITM_LINK][ITM_ROTATION][ITM_ANGLE].as_double()
+
+            rotation_axis_0 = NxLibItem()[ITM_CAMERAS][self.camera_serial][ITM_LINK][ITM_ROTATION][ITM_AXIS][0].as_double()
+            rotation_axis_1 = NxLibItem()[ITM_CAMERAS][self.camera_serial][ITM_LINK][ITM_ROTATION][ITM_AXIS][1].as_double()
+            rotation_axis_2 = NxLibItem()[ITM_CAMERAS][self.camera_serial][ITM_LINK][ITM_ROTATION][ITM_AXIS][2].as_double()
+
+            traslation_0 = NxLibItem()[ITM_CAMERAS][self.camera_serial][ITM_LINK][ITM_TRANSLATION][0].as_double()
+            traslation_1 = NxLibItem()[ITM_CAMERAS][self.camera_serial][ITM_LINK][ITM_TRANSLATION][1].as_double()
+            traslation_2 = NxLibItem()[ITM_CAMERAS][self.camera_serial][ITM_LINK][ITM_TRANSLATION][2].as_double()
+
+            # Generate orthographic projection 2D depth and texture images
+            rend_point_map = NxLibCommand(CMD_RENDER_POINT_MAP)
+            rend_point_map.parameters()[ITM_SIZE][0] = self.rendered_point_map_width # set width of the images, overriding the default value
+            rend_point_map.parameters()[ITM_SIZE][1] = self.rendered_point_map_height # height of the images, overriding the default value
+            rend_point_map.parameters()[ITM_FILL_XY_COORDINATES] = True
+            rend_point_map.parameters()[ITM_VIEW_POSE][ITM_TRANSLATION][0] = traslation_1 # shift target point to camera 
+            rend_point_map.parameters()[ITM_VIEW_POSE][ITM_TRANSLATION][1] = traslation_0
+            rend_point_map.parameters()[ITM_VIEW_POSE][ITM_TRANSLATION][2] = 0.0
+            rend_point_map.execute()
+            self.depth_image_f32_3d = NxLibItem()[ITM_IMAGES][ITM_RENDER_POINT_MAP].get_binary_data()
+            self.texture_image_u8_4d = NxLibItem()[ITM_IMAGES][ITM_RENDER_POINT_MAP_TEXTURE].get_binary_data()
+
+
+    def save_texture_img(self, filename = "texture_img.png"):
+        print("here 2")
+        if self.texture_image_u8_4d is not None:
+            print("here")
+            cv.imwrite(filename, self.texture_image_u8_4d)
+
+
+if __name__ == "__main__":
+    camera = EnsensoCamera()
+    camera.open_camera()
+    camera.capture()
+    camera.save_texture_img()
+    camera.close_camera()

MonoCamera.py

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+import argparse
+
+from nxlib.context import NxLib, MonoCamera
+from nxlib.command import NxLibCommand
+from nxlib.constants import *
+
+class MonoCam():
+
+    def __init__(self, serial):
+        self.camera_serial = serial
+
+    def capture_raw(self, filename="raw.png"):
+        with NxLib(), MonoCamera("4104140356") as camera:
+            camera.capture()
+            save_image(filename, camera[ITM_IMAGES][ITM_RAW])
+
+    def capture_rectified(self, filename="rectified.png"):
+        with NxLib(), MonoCamera(self.camera_serial) as camera:
+            camera.capture()
+            camera.rectify()
+            save_image(filename, camera[ITM_IMAGES][ITM_RECTIFIED])
+
+
+def save_image(filename, item):
+    with NxLibCommand(CMD_SAVE_IMAGE) as cmd:
+        cmd.parameters()[ITM_NODE] = item.path
+        cmd.parameters()[ITM_FILENAME] = filename
+        cmd.execute()
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument("serial", type=str,
+                        help="the serial of the stereo camera to open")
+    args = parser.parse_args()
+
+    camera_serial = args.serial
+    # instantiate camera
+    mono_camera = MonoCam(camera_serial)
+    # capture and save a raw image
+    mono_camera.capture_raw("raw_img.png")
+    # capture and save a rectified image
+    mono_camera.capture_rectified("rectified_img.png")
+

README.md

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+# Classes For Interacting With IDS Cameras
+
+## Requirements
+
+1. Install the Ensenso SDK: https://www.optonic.com/en/support/download/ensenso-sdk/
+2. Install the UEye Driver (maybe): https://www.optonic.com/en/support/download/ensenso-sdk/
+3. pip install -r requirements.txt
+    -   pip install nxlib
+    -   pip install gpib_ctypes
+4. Copy and paste everything into the constant.py file into the nxlib/constants.py file
+
+## Serial Numbers
+- RGB By Window: "4104140356"
+- Ensenso By Window: "216866"
+- Ensenso By Door: "216865"
+
+
+## Classes
+
+### EnsensoCamera
+- open_camera : open camera
+- close_camera : close camera
+- capture : capture depth and texture images
+- save_texture_img(filename="texture_img.png") : save the texture image