GR00T-WholeBodyControl / external_dependencies /unitree_sdk2_python /example /b2w /camera /camera_opencv.py
| from unitree_sdk2py.core.channel import ChannelFactoryInitialize | |
| from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient | |
| from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient | |
| import cv2 | |
| import numpy as np | |
| import sys | |
| def display_image(window_name, data): | |
| # If data is a list, we need to convert it to a bytes object | |
| if isinstance(data, list): | |
| data = bytes(data) | |
| # Now convert to numpy image | |
| image_data = np.frombuffer(data, dtype=np.uint8) | |
| image = cv2.imdecode(image_data, cv2.IMREAD_COLOR) | |
| if image is not None: | |
| cv2.imshow(window_name, image) | |
| if __name__ == "__main__": | |
| if len(sys.argv) > 1: | |
| ChannelFactoryInitialize(0, sys.argv[1]) | |
| else: | |
| ChannelFactoryInitialize(0) | |
| frontCameraClient = FrontVideoClient() # Create a front camera video client | |
| frontCameraClient.SetTimeout(3.0) | |
| frontCameraClient.Init() | |
| backCameraClient = BackVideoClient() # Create a back camera video client | |
| backCameraClient.SetTimeout(3.0) | |
| backCameraClient.Init() | |
| # Loop to continuously fetch images | |
| while True: | |
| # Get front camera image | |
| front_code, front_data = frontCameraClient.GetImageSample() | |
| if front_code == 0: | |
| display_image("Front Camera", front_data) | |
| # Get back camera image | |
| back_code, back_data = backCameraClient.GetImageSample() | |
| if back_code == 0: | |
| display_image("Back Camera", back_data) | |
| # Press ESC to stop | |
| if cv2.waitKey(20) == 27: | |
| break | |
| # Clean up windows | |
| cv2.destroyAllWindows() | |