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sample_XMT_video.py
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import numpy as np
import cv2
import hl2ss
import hl2ss_lnm
import hl2ss_mt
# Settings --------------------------------------------------------------------
host = '192.168.1.7'
buffer_size = 512
ports = [
hl2ss.StreamPort.RM_VLC_LEFTFRONT,
hl2ss.StreamPort.RM_VLC_LEFTLEFT,
hl2ss.StreamPort.RM_VLC_RIGHTFRONT,
hl2ss.StreamPort.RM_VLC_RIGHTRIGHT,
hl2ss.StreamPort.RM_DEPTH_AHAT,
hl2ss.StreamPort.RM_DEPTH_LONGTHROW,
hl2ss.StreamPort.PERSONAL_VIDEO,
#hl2ss.StreamPort.EXTENDED_VIDEO,
]
# Camera selection for EV
# realsense
group_index = 2
source_index = 0
profile_index = 0
#------------------------------------------------------------------------------
rx = {
hl2ss.StreamPort.RM_VLC_LEFTFRONT : hl2ss_mt.rx_decoded_rm_vlc,
hl2ss.StreamPort.RM_VLC_LEFTLEFT : hl2ss_mt.rx_decoded_rm_vlc,
hl2ss.StreamPort.RM_VLC_RIGHTFRONT : hl2ss_mt.rx_decoded_rm_vlc,
hl2ss.StreamPort.RM_VLC_RIGHTRIGHT : hl2ss_mt.rx_decoded_rm_vlc,
hl2ss.StreamPort.RM_DEPTH_AHAT : hl2ss_mt.rx_decoded_rm_depth_ahat,
hl2ss.StreamPort.RM_DEPTH_LONGTHROW : hl2ss_mt.rx_decoded_rm_depth_longthrow,
hl2ss.StreamPort.PERSONAL_VIDEO : hl2ss_mt.rx_decoded_pv,
hl2ss.StreamPort.EXTENDED_VIDEO : hl2ss_mt.rx_decoded_pv
}
def create_default_rx(host, port, buffer_size):
configuration = hl2ss_mt.create_configuration(port)
configuration['width'] = 1280
configuration['height'] = 720
configuration['framerate'] = 30
return rx[port](host, port, buffer_size, configuration)
def display_rm_vlc(data):
return data.payload.image
def display_rm_depth(data):
return np.hstack((data.payload.depth / np.max(data.payload.depth), data.payload.ab / np.max(data.payload.ab)))
def display_pv(data):
return data.payload.image
display = {
hl2ss.StreamPort.RM_VLC_LEFTFRONT : display_rm_vlc,
hl2ss.StreamPort.RM_VLC_LEFTLEFT : display_rm_vlc,
hl2ss.StreamPort.RM_VLC_RIGHTFRONT : display_rm_vlc,
hl2ss.StreamPort.RM_VLC_RIGHTRIGHT : display_rm_vlc,
hl2ss.StreamPort.RM_DEPTH_AHAT : display_rm_depth,
hl2ss.StreamPort.RM_DEPTH_LONGTHROW : display_rm_depth,
hl2ss.StreamPort.PERSONAL_VIDEO : display_pv,
hl2ss.StreamPort.EXTENDED_VIDEO : display_pv
}
streams = { port : create_default_rx(host, port, buffer_size) for port in ports }
if (hl2ss.StreamPort.PERSONAL_VIDEO in ports):
hl2ss_lnm.start_subsystem_pv(host, hl2ss.StreamPort.PERSONAL_VIDEO)
if (hl2ss.StreamPort.EXTENDED_VIDEO in ports):
hl2ss_lnm.start_subsystem_pv(host, hl2ss.StreamPort.EXTENDED_VIDEO, global_opacity=group_index, output_width=source_index, output_height=profile_index)
for stream in streams.items():
cv2.namedWindow(hl2ss.get_port_name(stream[0]))
stream[1].open()
while (True):
for stream in streams.items():
data = stream[1].get_by_index(-1)
if (data.status == 0):
cv2.imshow(hl2ss.get_port_name(stream[0]), display[stream[0]](data))
if ((cv2.waitKey(1) & 0xFF) == 27): # wait some time between get_by_[...] calls to not starve the internal writer
break
for stream in streams.items():
stream[1].close()
if (hl2ss.StreamPort.PERSONAL_VIDEO in ports):
hl2ss_lnm.stop_subsystem_pv(host, hl2ss.StreamPort.PERSONAL_VIDEO)
if (hl2ss.StreamPort.EXTENDED_VIDEO in ports):
hl2ss_lnm.stop_subsystem_pv(host, hl2ss.StreamPort.EXTENDED_VIDEO)