File size: 9,148 Bytes
1f3a93e | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 | """
ROS-free camera viewer with optional recording.
Connects to a ZMQ camera server (MuJoCo sim SensorServer or real robot camera)
and displays live camera feeds using OpenCV. Supports recording to MP4.
Virtual environment setup (run from repo root):
bash install_scripts/install_data_collection.sh
source .venv_data_collection/bin/activate
Usage:
python gear_sonic/scripts/run_camera_viewer.py --camera-host localhost --camera-port 5555
Headless recording:
python gear_sonic/scripts/run_camera_viewer.py --no-display --record --duration 10
Controls (OpenCV window must be focused):
R - Start/stop recording
Q - Quit
Output structure:
camera_recordings/
└── rec_20260403_143052/
├── ego_view.mp4
└── head_left_color_image.mp4
"""
from dataclasses import dataclass
from pathlib import Path
import time
from typing import Optional
import cv2
import numpy as np
import tyro
from gear_sonic.camera.composed_camera import ComposedCameraClientSensor
@dataclass
class CameraViewerConfig:
"""CLI config for the ROS-free camera viewer."""
camera_host: str = "localhost"
"""Camera server hostname."""
camera_port: int = 5555
"""Camera server port."""
fps: int = 30
"""Target display refresh rate (Hz)."""
output_path: Optional[str] = None
"""Output directory for recordings. Auto-creates 'camera_recordings/' if not set."""
codec: str = "mp4v"
"""Video codec for recording (e.g., 'mp4v', 'XVID')."""
max_display_width: int = 640
"""Max width per camera tile in the display window."""
display: bool = True
"""Show the OpenCV preview window. Disable this on headless servers."""
record: bool = False
"""Start recording immediately instead of waiting for the R key."""
duration: Optional[float] = None
"""Stop automatically after this many seconds of recording."""
def main(config: CameraViewerConfig):
if not config.display and not config.record:
raise ValueError("--no-display requires --record")
if config.duration is not None and not config.record:
raise ValueError("--duration requires --record")
if config.duration is not None and config.duration <= 0:
raise ValueError("--duration must be greater than zero")
client = ComposedCameraClientSensor(server_ip=config.camera_host, port=config.camera_port)
print("Waiting for first camera frame...")
sample = None
for _ in range(100):
sample = client.read(blocking=False)
if sample and sample.get("images"):
break
time.sleep(0.1)
if sample is None or not sample.get("images"):
print("ERROR: No camera frames received after 10s. Check the camera server.")
return
camera_names = sorted(sample["images"].keys())
print(f"Detected {len(camera_names)} camera stream(s): {camera_names}")
output_dir = Path(config.output_path) if config.output_path else Path("camera_recordings")
is_recording = False
video_writers: dict[str, cv2.VideoWriter] = {}
frame_count = 0
recording_start_time = 0.0
recording_dir = Path(".")
loop_period = 1.0 / config.fps
window_name = "SONIC Camera Viewer"
print(f"Target FPS: {config.fps}")
print(f"Recordings will be saved to: {output_dir}")
if config.display:
print("Controls: R = start/stop recording, Q = quit")
if config.record:
recording_dir = output_dir / f"rec_{time.strftime('%Y%m%d_%H%M%S')}"
recording_dir.mkdir(parents=True, exist_ok=True)
fourcc = cv2.VideoWriter_fourcc(*config.codec)
for name in camera_names:
img = sample["images"].get(name)
if img is not None:
h, w = img.shape[:2]
path = recording_dir / f"{name}.mp4"
writer = cv2.VideoWriter(str(path), fourcc, config.fps, (w, h))
if not writer.isOpened():
raise RuntimeError(f"Failed to open video writer: {path}")
video_writers[name] = writer
is_recording = True
recording_start_time = time.time()
print(f"Recording started: {recording_dir}")
try:
while True:
t_start = time.monotonic()
image_data = client.read(blocking=False)
if image_data is None or not image_data.get("images"):
elapsed = time.monotonic() - t_start
remaining = loop_period - elapsed
if remaining > 0:
time.sleep(remaining)
continue
tiles = []
for name in camera_names:
img = image_data["images"].get(name)
if img is None:
continue
if img.shape[2] == 3:
img_bgr = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
else:
img_bgr = img
if is_recording and name in video_writers:
video_writers[name].write(img_bgr)
h, w = img_bgr.shape[:2]
if w > config.max_display_width:
scale = config.max_display_width / w
img_bgr = cv2.resize(
img_bgr, (config.max_display_width, int(h * scale))
)
label = f"{name}"
if is_recording:
label = f"[REC] {name}"
cv2.putText(
img_bgr, label, (10, 25),
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2,
)
tiles.append(img_bgr)
if tiles:
max_h = max(t.shape[0] for t in tiles)
padded = []
for t in tiles:
if t.shape[0] < max_h:
pad = np.zeros(
(max_h - t.shape[0], t.shape[1], 3), dtype=np.uint8
)
t = np.vstack([t, pad])
padded.append(t)
canvas = np.hstack(padded)
if is_recording:
frame_count += 1
elapsed_rec = time.time() - recording_start_time
status = f"REC {frame_count}f / {elapsed_rec:.1f}s"
cv2.putText(
canvas, status, (canvas.shape[1] - 300, 25),
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2,
)
if config.display:
cv2.imshow(window_name, canvas)
key = cv2.waitKey(1) & 0xFF if config.display else 0xFF
if key == ord("q"):
print("Quit requested.")
break
elif key == ord("r"):
if not is_recording:
recording_dir = output_dir / f"rec_{time.strftime('%Y%m%d_%H%M%S')}"
recording_dir.mkdir(parents=True, exist_ok=True)
fourcc = cv2.VideoWriter_fourcc(*config.codec)
video_writers = {}
for name in camera_names:
img = image_data["images"].get(name)
if img is not None:
h, w = img.shape[:2]
path = recording_dir / f"{name}.mp4"
video_writers[name] = cv2.VideoWriter(
str(path), fourcc, config.fps, (w, h)
)
is_recording = True
recording_start_time = time.time()
frame_count = 0
print(f"Recording started: {recording_dir}")
else:
is_recording = False
for writer in video_writers.values():
writer.release()
video_writers = {}
duration = time.time() - recording_start_time
print(
f"Recording stopped - {duration:.1f}s, {frame_count} frames "
f"-> {recording_dir}"
)
if (
is_recording
and config.duration is not None
and time.time() - recording_start_time >= config.duration
):
print(f"Recording duration reached: {config.duration:.1f}s")
break
elapsed = time.monotonic() - t_start
remaining = loop_period - elapsed
if remaining > 0:
time.sleep(remaining)
except KeyboardInterrupt:
print("\nExiting...")
finally:
if video_writers:
for writer in video_writers.values():
writer.release()
if is_recording:
duration = time.time() - recording_start_time
print(f"Final recording: {duration:.1f}s, {frame_count} frames")
client.close()
if config.display:
cv2.destroyAllWindows()
if __name__ == "__main__":
config = tyro.cli(CameraViewerConfig)
main(config)
|