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| # Copyright 2024 The HuggingFace Inc. team. All rights reserved. | |
| # | |
| # Licensed under the Apache License, Version 2.0 (the "License"); | |
| # you may not use this file except in compliance with the License. | |
| # You may obtain a copy of the License at | |
| # | |
| # http://www.apache.org/licenses/LICENSE-2.0 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| import enum | |
| import numpy as np | |
| class stream(enum.Enum): # noqa: N801 | |
| color = 0 | |
| depth = 1 | |
| class format(enum.Enum): # noqa: N801 | |
| rgb8 = 0 | |
| z16 = 1 | |
| class config: # noqa: N801 | |
| def enable_device(self, device_id: str): | |
| self.device_enabled = device_id | |
| def enable_stream(self, stream_type: stream, width=None, height=None, color_format=None, fps=None): | |
| self.stream_type = stream_type | |
| # Overwrite default values when possible | |
| self.width = 848 if width is None else width | |
| self.height = 480 if height is None else height | |
| self.color_format = format.rgb8 if color_format is None else color_format | |
| self.fps = 30 if fps is None else fps | |
| class RSColorProfile: | |
| def __init__(self, config): | |
| self.config = config | |
| def fps(self): | |
| return self.config.fps | |
| def width(self): | |
| return self.config.width | |
| def height(self): | |
| return self.config.height | |
| class RSColorStream: | |
| def __init__(self, config): | |
| self.config = config | |
| def as_video_stream_profile(self): | |
| return RSColorProfile(self.config) | |
| class RSProfile: | |
| def __init__(self, config): | |
| self.config = config | |
| def get_stream(self, color_format): | |
| del color_format # unused | |
| return RSColorStream(self.config) | |
| class pipeline: # noqa: N801 | |
| def __init__(self): | |
| self.started = False | |
| self.config = None | |
| def start(self, config): | |
| self.started = True | |
| self.config = config | |
| return RSProfile(self.config) | |
| def stop(self): | |
| if not self.started: | |
| raise RuntimeError("You need to start the camera before stop.") | |
| self.started = False | |
| self.config = None | |
| def wait_for_frames(self, timeout_ms=50000): | |
| del timeout_ms # unused | |
| return RSFrames(self.config) | |
| class RSFrames: | |
| def __init__(self, config): | |
| self.config = config | |
| def get_color_frame(self): | |
| return RSColorFrame(self.config) | |
| def get_depth_frame(self): | |
| return RSDepthFrame(self.config) | |
| class RSColorFrame: | |
| def __init__(self, config): | |
| self.config = config | |
| def get_data(self): | |
| data = np.ones((self.config.height, self.config.width, 3), dtype=np.uint8) | |
| # Create a difference between rgb and bgr | |
| data[:, :, 0] = 2 | |
| return data | |
| class RSDepthFrame: | |
| def __init__(self, config): | |
| self.config = config | |
| def get_data(self): | |
| return np.ones((self.config.height, self.config.width), dtype=np.uint16) | |
| class RSDevice: | |
| def __init__(self): | |
| pass | |
| def get_info(self, camera_info) -> str: | |
| del camera_info # unused | |
| # return fake serial number | |
| return "123456789" | |
| class context: # noqa: N801 | |
| def __init__(self): | |
| pass | |
| def query_devices(self): | |
| return [RSDevice()] | |
| class camera_info: # noqa: N801 | |
| # fake name | |
| name = "Intel RealSense D435I" | |
| def __init__(self, serial_number): | |
| del serial_number | |
| pass | |