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xiaoliangstdxiaoliangstd
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Update the examples for the B2W and B2 cameras.
1 parent 04a4b03 commit 4eadcf6

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Lines changed: 282 additions & 39 deletions

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‎example/b2/camera/camera_opencv.py‎

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from unitree_sdk2py.core.channel import ChannelFactoryInitialize
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from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
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from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
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import cv2
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import numpy as np
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import sys
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def display_image(window_name, data):
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# If data is a list, we need to convert it to a bytes object
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if isinstance(data, list):
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data = bytes(data)
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# Now convert to numpy image
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image_data = np.frombuffer(data, dtype=np.uint8)
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image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
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if image is not None:
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cv2.imshow(window_name, image)
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if __name__ == "__main__":
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if len(sys.argv) > 1:
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ChannelFactoryInitialize(0, sys.argv[1])
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else:
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ChannelFactoryInitialize(0)
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frontCameraClient = FrontVideoClient() # Create a front camera video client
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frontCameraClient.SetTimeout(3.0)
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frontCameraClient.Init()
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backCameraClient = BackVideoClient() # Create a back camera video client
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backCameraClient.SetTimeout(3.0)
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backCameraClient.Init()
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# Loop to continuously fetch images
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while True:
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# Get front camera image
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front_code, front_data = frontCameraClient.GetImageSample()
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if front_code == 0:
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display_image("Front Camera", front_data)
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# Get back camera image
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back_code, back_data = backCameraClient.GetImageSample()
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if back_code == 0:
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display_image("Back Camera", back_data)
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# Press ESC to stop
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if cv2.waitKey(20) == 27:
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break
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# Clean up windows
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cv2.destroyAllWindows()
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‎example/b2/camera/capture_image.py‎

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import time
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import os
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import sys
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from unitree_sdk2py.core.channel import ChannelFactoryInitialize
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from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
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from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
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if __name__ == "__main__":
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if len(sys.argv) > 1:
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ChannelFactoryInitialize(0, sys.argv[1])
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else:
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ChannelFactoryInitialize(0)
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# 创建前置相机客户端
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front_client = FrontVideoClient()
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front_client.SetTimeout(3.0)
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front_client.Init()
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# 创建后置相机客户端
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back_client = BackVideoClient()
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back_client.SetTimeout(3.0)
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back_client.Init()
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print("##################Get Front Camera Image###################")
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# 获取前置相机图像
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front_code, front_data = front_client.GetImageSample()
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if front_code != 0:
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print("Get front camera image error. Code:", front_code)
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else:
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front_image_name = "./front_img.jpg"
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print("Front Image Saved as:", front_image_name)
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with open(front_image_name, "+wb") as f:
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f.write(bytes(front_data))
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print("##################Get Back Camera Image###################")
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# 获取后置相机图像
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back_code, back_data = back_client.GetImageSample()
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if back_code != 0:
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print("Get back camera image error. Code:", back_code)
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else:
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back_image_name = "./back_img.jpg"
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print("Back Image Saved as:", back_image_name)
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with open(back_image_name, "+wb") as f:
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f.write(bytes(back_data))
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time.sleep(1)

‎example/b2w/camera/camera_opencv.py‎

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from unitree_sdk2py.core.channel import ChannelFactoryInitialize
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from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
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from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
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import cv2
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import numpy as np
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import sys
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def display_image(window_name, data):
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# If data is a list, we need to convert it to a bytes object
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if isinstance(data, list):
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data = bytes(data)
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# Now convert to numpy image
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image_data = np.frombuffer(data, dtype=np.uint8)
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image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
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if image is not None:
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cv2.imshow(window_name, image)
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if __name__ == "__main__":
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if len(sys.argv) > 1:
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ChannelFactoryInitialize(0, sys.argv[1])
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else:
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ChannelFactoryInitialize(0)
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frontCameraClient = FrontVideoClient() # Create a front camera video client
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frontCameraClient.SetTimeout(3.0)
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frontCameraClient.Init()
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backCameraClient = BackVideoClient() # Create a back camera video client
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backCameraClient.SetTimeout(3.0)
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backCameraClient.Init()
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# Loop to continuously fetch images
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while True:
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# Get front camera image
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front_code, front_data = frontCameraClient.GetImageSample()
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if front_code == 0:
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display_image("Front Camera", front_data)
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# Get back camera image
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back_code, back_data = backCameraClient.GetImageSample()
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if back_code == 0:
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display_image("Back Camera", back_data)
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# Press ESC to stop
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if cv2.waitKey(20) == 27:
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break
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# Clean up windows
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cv2.destroyAllWindows()
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‎example/b2w/camera/capture_image.py‎

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import time
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import os
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import sys
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from unitree_sdk2py.core.channel import ChannelFactoryInitialize
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from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
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from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
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if __name__ == "__main__":
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if len(sys.argv) > 1:
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ChannelFactoryInitialize(0, sys.argv[1])
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else:
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ChannelFactoryInitialize(0)
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# 创建前置相机客户端
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front_client = FrontVideoClient()
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front_client.SetTimeout(3.0)
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front_client.Init()
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# 创建后置相机客户端
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back_client = BackVideoClient()
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back_client.SetTimeout(3.0)
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back_client.Init()
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print("##################Get Front Camera Image###################")
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# 获取前置相机图像
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front_code, front_data = front_client.GetImageSample()
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if front_code != 0:
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print("Get front camera image error. Code:", front_code)
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else:
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front_image_name = "./front_img.jpg"
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print("Front Image Saved as:", front_image_name)
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with open(front_image_name, "+wb") as f:
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f.write(bytes(front_data))
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print("##################Get Back Camera Image###################")
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# 获取后置相机图像
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back_code, back_data = back_client.GetImageSample()
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if back_code != 0:
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print("Get back camera image error. Code:", back_code)
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else:
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back_image_name = "./back_img.jpg"
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print("Back Image Saved as:", back_image_name)
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with open(back_image_name, "+wb") as f:
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f.write(bytes(back_data))
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time.sleep(1)

‎unitree_sdk2py/b2/back_video/back_video_api.py‎

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"""
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" service name
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"""
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ROBOT_BACK_VIDEO_SERVICE_NAME = "back_videohub"
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"""
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" service api version
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"""
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ROBOT_BACK_VIDEO_API_VERSION = "1.0.0.0"
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"""
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" api id
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"""
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ROBOT_BACK_VIDEO_API_ID_GETIMAGESAMPLE = 1001

‎unitree_sdk2py/b2/back_video/back_video_client.py‎

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import json
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from ...rpc.client import Client
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from .back_video_api import *
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"""
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" class FrontVideoClient
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"""
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class BackVideoClient(Client):
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def __init__(self):
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super().__init__(ROBOT_BACK_VIDEO_SERVICE_NAME, False)
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def Init(self):
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# set api version
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self._SetApiVerson(ROBOT_BACK_VIDEO_API_VERSION)
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# regist api
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self._RegistApi(ROBOT_BACK_VIDEO_API_ID_GETIMAGESAMPLE, 0)
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# 1001
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def GetImageSample(self):
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return self._CallBinary(ROBOT_BACK_VIDEO_API_ID_GETIMAGESAMPLE, [])

‎unitree_sdk2py/b2/front_video/front_video_api.py‎

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"""
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" service name
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"""
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ROBOT_FRONT_VIDEO_SERVICE_NAME = "front_videohub"
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"""
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" service api version
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"""
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ROBOT_FRONT_VIDEO_API_VERSION = "1.0.0.0"
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"""
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" api id
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"""
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ROBOT_FRONT_VIDEO_API_ID_GETIMAGESAMPLE = 1001

‎unitree_sdk2py/b2/front_video/front_video_client.py‎

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import json
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from ...rpc.client import Client
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from .front_video_api import *
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"""
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" class FrontVideoClient
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"""
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class FrontVideoClient(Client):
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def __init__(self):
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super().__init__(ROBOT_FRONT_VIDEO_SERVICE_NAME, False)
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def Init(self):
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# set api version
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self._SetApiVerson(ROBOT_FRONT_VIDEO_API_VERSION)
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# regist api
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self._RegistApi(ROBOT_FRONT_VIDEO_API_ID_GETIMAGESAMPLE, 0)
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# 1001
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def GetImageSample(self):
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return self._CallBinary(ROBOT_FRONT_VIDEO_API_ID_GETIMAGESAMPLE, [])

‎unitree_sdk2py/b2/video/video_api.py‎

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‎unitree_sdk2py/b2/video/video_client.py‎

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