GR00T-WholeBodyControl / external_dependencies /unitree_sdk2_python /example /b2w /camera /capture_image.py
| import time | |
| import os | |
| import sys | |
| 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 | |
| if __name__ == "__main__": | |
| if len(sys.argv) > 1: | |
| ChannelFactoryInitialize(0, sys.argv[1]) | |
| else: | |
| ChannelFactoryInitialize(0) | |
| # 创建前置相机客户端 | |
| front_client = FrontVideoClient() | |
| front_client.SetTimeout(3.0) | |
| front_client.Init() | |
| # 创建后置相机客户端 | |
| back_client = BackVideoClient() | |
| back_client.SetTimeout(3.0) | |
| back_client.Init() | |
| print("##################Get Front Camera Image###################") | |
| # 获取前置相机图像 | |
| front_code, front_data = front_client.GetImageSample() | |
| if front_code != 0: | |
| print("Get front camera image error. Code:", front_code) | |
| else: | |
| front_image_name = "./front_img.jpg" | |
| print("Front Image Saved as:", front_image_name) | |
| with open(front_image_name, "+wb") as f: | |
| f.write(bytes(front_data)) | |
| print("##################Get Back Camera Image###################") | |
| # 获取后置相机图像 | |
| back_code, back_data = back_client.GetImageSample() | |
| if back_code != 0: | |
| print("Get back camera image error. Code:", back_code) | |
| else: | |
| back_image_name = "./back_img.jpg" | |
| print("Back Image Saved as:", back_image_name) | |
| with open(back_image_name, "+wb") as f: | |
| f.write(bytes(back_data)) | |
| time.sleep(1) | |