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sample_rgbd_rm_vlc.py
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sample_rgbd_rm_vlc.py
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#------------------------------------------------------------------------------
# This script demonstrates how to create aligned "RGBD" images, which can be
# used with Open3D, from the depth and grayscale cameras of the HoloLens.
# Press space to stop.
#------------------------------------------------------------------------------
from pynput import keyboard
import multiprocessing as mp
import numpy as np
import open3d as o3d
import cv2
import hl2ss_imshow
import hl2ss
import hl2ss_lnm
import hl2ss_mp
import hl2ss_3dcv
#------------------------------------------------------------------------------
# HoloLens address
host = '192.168.1.7'
# Calibration path (must exist but can be empty)
calibration_path = '../calibration'
# Port
vlc_port = hl2ss.StreamPort.RM_VLC_RIGHTFRONT
# Buffer length in seconds
buffer_length = 10
# Max depth in meters
max_depth = 3.0
#------------------------------------------------------------------------------
if __name__ == '__main__':
# Keyboard events ---------------------------------------------------------
enable = True
def on_press(key):
global enable
enable = key != keyboard.Key.space
return enable
listener = keyboard.Listener(on_press=on_press)
listener.start()
# Get RM VLC and RM Depth Long Throw calibration --------------------------
# Calibration data will be downloaded if it's not in the calibration folder
calibration_vlc = hl2ss_3dcv.get_calibration_rm(host, vlc_port, calibration_path)
calibration_lt = hl2ss_3dcv.get_calibration_rm(host, hl2ss.StreamPort.RM_DEPTH_LONGTHROW, calibration_path)
uv2xy = hl2ss_3dcv.compute_uv2xy(calibration_lt.intrinsics, hl2ss.Parameters_RM_DEPTH_LONGTHROW.WIDTH, hl2ss.Parameters_RM_DEPTH_LONGTHROW.HEIGHT)
xy1, scale = hl2ss_3dcv.rm_depth_compute_rays(uv2xy, calibration_lt.scale)
# Create Open3D visualizer ------------------------------------------------
o3d_lt_intrinsics = o3d.camera.PinholeCameraIntrinsic(hl2ss.Parameters_RM_DEPTH_LONGTHROW.WIDTH, hl2ss.Parameters_RM_DEPTH_LONGTHROW.HEIGHT, calibration_lt.intrinsics[0, 0], calibration_lt.intrinsics[1, 1], calibration_lt.intrinsics[2, 0], calibration_lt.intrinsics[2, 1])
vis = o3d.visualization.Visualizer()
vis.create_window()
pcd = o3d.geometry.PointCloud()
first_pcd = True
# Start RM VLC and RM Depth Long Throw streams ----------------------------
producer = hl2ss_mp.producer()
producer.configure(vlc_port, hl2ss_lnm.rx_rm_vlc(host, vlc_port))
producer.configure(hl2ss.StreamPort.RM_DEPTH_LONGTHROW, hl2ss_lnm.rx_rm_depth_longthrow(host, hl2ss.StreamPort.RM_DEPTH_LONGTHROW))
producer.initialize(vlc_port, hl2ss.Parameters_RM_VLC.FPS * buffer_length)
producer.initialize(hl2ss.StreamPort.RM_DEPTH_LONGTHROW, hl2ss.Parameters_RM_DEPTH_LONGTHROW.FPS * buffer_length)
producer.start(vlc_port)
producer.start(hl2ss.StreamPort.RM_DEPTH_LONGTHROW)
consumer = hl2ss_mp.consumer()
manager = mp.Manager()
sink_vlc = consumer.create_sink(producer, vlc_port, manager, None)
sink_depth = consumer.create_sink(producer, hl2ss.StreamPort.RM_DEPTH_LONGTHROW, manager, ...)
sink_vlc.get_attach_response()
sink_depth.get_attach_response()
# Main Loop ---------------------------------------------------------------
while (enable):
# Wait for RM Depth Long Throw frame ----------------------------------
sink_depth.acquire()
# Get RM Depth Long Throw frame and nearest (in time) RM VLC frame ----
_, data_depth = sink_depth.get_most_recent_frame()
if ((data_depth is None) or (not hl2ss.is_valid_pose(data_depth.pose))):
continue
_, data_vlc = sink_vlc.get_nearest(data_depth.timestamp)
if ((data_vlc is None) or (not hl2ss.is_valid_pose(data_vlc.pose))):
continue
# Preprocess frames ---------------------------------------------------
depth = hl2ss_3dcv.rm_depth_undistort(data_depth.payload.depth, calibration_lt.undistort_map)
depth = hl2ss_3dcv.rm_depth_normalize(depth, scale)
color = cv2.remap(data_vlc.payload.image, calibration_vlc.undistort_map[:, :, 0], calibration_vlc.undistort_map[:, :, 1], cv2.INTER_LINEAR)
# Generate aligned RGBD image -----------------------------------------
lt_points = hl2ss_3dcv.rm_depth_to_points(xy1, depth)
lt_to_world = hl2ss_3dcv.camera_to_rignode(calibration_lt.extrinsics) @ hl2ss_3dcv.reference_to_world(data_depth.pose)
world_to_lt = hl2ss_3dcv.world_to_reference(data_depth.pose) @ hl2ss_3dcv.rignode_to_camera(calibration_lt.extrinsics)
world_to_vlc_image = hl2ss_3dcv.world_to_reference(data_vlc.pose) @ hl2ss_3dcv.rignode_to_camera(calibration_vlc.extrinsics) @ hl2ss_3dcv.camera_to_image(calibration_vlc.intrinsics)
world_points = hl2ss_3dcv.transform(lt_points, lt_to_world)
vlc_uv = hl2ss_3dcv.project(world_points, world_to_vlc_image)
color = cv2.remap(color, vlc_uv[:, :, 0], vlc_uv[:, :, 1], cv2.INTER_LINEAR)
color = hl2ss_3dcv.slice_to_block(color)
mask_uv = hl2ss_3dcv.slice_to_block((vlc_uv[:, :, 0] < 0) | (vlc_uv[:, :, 0] >= hl2ss.Parameters_RM_VLC.WIDTH) | (vlc_uv[:, :, 1] < 0) | (vlc_uv[:, :, 1] >= hl2ss.Parameters_RM_VLC.HEIGHT))
depth[mask_uv] = 0
# Display RGBD --------------------------------------------------------
image = np.hstack((depth / 8, color / 255)) # Depth scaled for visibility
cv2.imshow('RGBD', image)
cv2.waitKey(1)
# Convert to Open3D RGBD image ----------------------------------------
color = hl2ss_3dcv.rm_vlc_to_rgb(color)
color_image = o3d.geometry.Image(color)
depth_image = o3d.geometry.Image(depth)
rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(color_image, depth_image, depth_scale=1, depth_trunc=max_depth, convert_rgb_to_intensity=False)
tmp_pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd, o3d_lt_intrinsics)
# Display pointcloud --------------------------------------------------
pcd.points = tmp_pcd.points
pcd.colors = tmp_pcd.colors
if (first_pcd):
vis.add_geometry(pcd)
first_pcd = False
else:
vis.update_geometry(pcd)
vis.poll_events()
vis.update_renderer()
# Stop RM VLC and RM Depth Long Throw streams -----------------------------
sink_vlc.detach()
sink_depth.detach()
producer.stop(vlc_port)
producer.stop(hl2ss.StreamPort.RM_DEPTH_LONGTHROW)
# Stop keyboard events ----------------------------------------------------
listener.join()