Update instructions on redis and running camera node

README.md

@@ -136,3 +136,20 @@ Now you should be able to use `pyrealsense2`.
 ``` shell
 /usr/bin/Intel.Realsense.CustomRW -sn 017322071705 -w -f update_calibration.xml
 ```
+
+# Usage
+
+Under the main folder, run:
+``` shell
+python scripts/deoxys_camera_node.py --camera-ref rs_0 --use-rgb
+--use-depth --eval --use-rec --visualization
+```
+If you want to specify ip (e.g. localhost), you should add an argument
+`--host IP_ADDR`
+
+Currently we use redis server. Follow the instruction of their
+[official
+documentation](https://redis.io/docs/latest/operate/oss_and_stack/install/install-redis/install-redis-on-linux/). After
+installation, edit the file `/etc/redis/redis.conf` with sudo access,
+comment out the original line of `bind 127.0.0.1 ::1` and add a new
+line that binds to your own IP. 

camera_calibration/hand_eye_calibration.py

@@ -60,7 +60,8 @@ def main():
 
 
     # load a list of joints to move
-    joints_json_file_name = f"{args.config_folder}/{args.config_filename}"
+    # joints_json_file_name = f"{args.config_folder}/{args.config_filename}"
+    joints_json_file_name = args.config_filename
 
     joint_info = json.load(open(joints_json_file_name, "r"))
     joint_list = joint_info["joints"]
@@ -118,7 +119,7 @@ def main():
 
             color_img = imgs["color"]
             depth_img = imgs["depth"]
-            cv2.imshow("", color_img)
+            cv2.imshow("", color_img[..., ::-1])
             cv2.imwrite(f"{calibration_img_folder}/{idx}_color.png", color_img)
             cv2.imwrite(f"{calibration_img_folder}/{idx}_depth.png", depth_img)
             cv2.waitKey(1)

camera_calibration/record_robot_joints.py

@@ -81,6 +81,7 @@ def main():
 
         with open(joint_info_json_filename, "w") as f:
             json.dump({"joints": save_joints}, f, indent=4)
+        print(f"Saving to {file_name}.json")
 
     robot_interface.close()
 

deoxys_vision/utils/calibration_utils.py

@@ -51,18 +51,18 @@ def write_calibrated_extrinsics(data,
     return default_extrinsic_json_file
 
 
-def load_default_extrinsics(camera_id,
-                            camera_type,
-                            calibration_method="tsai",
-                            fmt="homogeneous"):
-    default_extrinsic_json_file = os.path.join(get_calibration_path("results"),
-                                               f"camera_{camera_type}_{camera_id}_{calibration_method}_extrinsics.json")
+# def load_default_extrinsics(camera_id,
+#                             camera_type,
+#                             calibration_method="tsai",
+#                             fmt="homogeneous"):
+#     default_extrinsic_json_file = os.path.join(get_calibration_path("results"),
+#                                                f"camera_{camera_type}_{camera_id}_{calibration_method}_extrinsics.json")
 
-    assert(os.path.exists(default_extrinsic_json_file)), f"{default_extrinsic_json_file} needs to exist"
+#     assert(os.path.exists(default_extrinsic_json_file)), f"{default_extrinsic_json_file} needs to exist"
 
-    with open(default_extrinsic_json_file, "r") as f:
-        data = json.load(f)
-    return get_extrinsics_data(data, fmt)
+#     with open(default_extrinsic_json_file, "r") as f:
+#         data = json.load(f)
+#     return get_extrinsics_data(data, fmt)
 
 def get_extrinsics_data(data, fmt):
     if fmt == "matrix":

scripts/deoxys_camera_node.py

@@ -116,6 +116,7 @@ def main():
 
     img_counter = 0
     freq = 30.0
+    MAX_IMG_NUM = 653360
     while True:
         start_time = time.time_ns()
 
@@ -208,9 +209,9 @@ def main():
         camera2redis_pub_interface.set_img_info(img_info)
         camera2redis_pub_interface.set_img_buffer(imgs=imgs)
 
-        print(img_counter)
         if counter < COUNT_THRESH:
             img_counter += 1
+            img_counter = img_counter % MAX_IMG_NUM
 
         # if not args.eval:
         #     if counter < COUNT_THRESH:
@@ -241,7 +242,7 @@ def main():
         time_interval = (end_time - start_time) / (10 ** 9)
         if time_interval < 1.0 / freq:
             time.sleep(1.0 / freq - time_interval)
-            print(f"The camera node only took {time_interval} to transmit image")
+            # print(f"The camera node only took {time_interval} to transmit image")
 
         if camera2redis_pub_interface.finished:
             break