131 lines
5.1 KiB
Python
Executable File
131 lines
5.1 KiB
Python
Executable File
#!/usr/bin/env python3
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"""Сохраняет непохожие кадры с камеры захвата RMC1 для разметки."""
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import argparse
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import time
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from datetime import datetime
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from pathlib import Path
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HERE = Path(__file__).resolve().parent
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def arguments():
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--sim", action="store_true", help="Использовать камеру Webots")
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parser.add_argument(
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"--topic",
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help="ROS-топик камеры; по умолчанию выбирается по --sim",
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)
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parser.add_argument("--compressed", action="store_true", help="Тип CompressedImage")
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parser.add_argument("--output", default="dataset/raw", help="Каталог для JPG")
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parser.add_argument("--count", type=int, default=30, help="Сколько кадров сохранить")
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parser.add_argument("--interval", type=float, default=0.5, help="Минимум секунд между JPG")
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parser.add_argument(
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"--min-change",
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type=float,
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default=1.0,
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help="Минимальное среднее изменение пикселя; 0 сохраняет одинаковые кадры",
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)
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parser.add_argument("--timeout", type=float, default=180.0, help="Общий таймаут")
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parser.add_argument("--jpeg-quality", type=int, default=95)
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args = parser.parse_args()
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if args.topic is None:
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args.topic = (
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"/RMC1/arm95/camera_gripper/image_color"
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if args.sim
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else "/RMC1/arm95/svcam/right/image/compressed"
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)
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if args.count < 1 or args.interval < 0 or args.timeout <= 0:
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parser.error("count >= 1, interval >= 0, timeout > 0")
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if not 1 <= args.jpeg_quality <= 100 or args.min_change < 0:
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parser.error("jpeg-quality должен быть 1..100, min-change >= 0")
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return args
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def main():
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args = arguments()
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try:
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import cv2
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import numpy as np
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import rclpy
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from cv_bridge import CvBridge
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from rclpy.node import Node
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from rclpy.qos import qos_profile_sensor_data
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from sensor_msgs.msg import CompressedImage, Image
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except ImportError as error:
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raise SystemExit(
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f"Нет ROS/OpenCV зависимости: {error}. Запускайте после source ROS 2 в VM."
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)
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output = Path(args.output).expanduser()
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if not output.is_absolute():
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output = HERE / output
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output.mkdir(parents=True, exist_ok=True)
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class Collector(Node):
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def __init__(self):
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super().__init__("mvch_dataset_collector")
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self.bridge = CvBridge()
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self.saved = 0
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self.previous = None
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self.last_save = 0.0
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image_type = CompressedImage if args.compressed else Image
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self.create_subscription(image_type, args.topic, self.on_image, qos_profile_sensor_data)
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def on_image(self, message):
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now = time.monotonic()
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if now - self.last_save < args.interval:
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return
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try:
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if args.compressed:
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frame = self.bridge.compressed_imgmsg_to_cv2(
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message, desired_encoding="bgr8"
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)
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else:
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frame = self.bridge.imgmsg_to_cv2(
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message, desired_encoding="bgr8"
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)
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except Exception as error:
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self.get_logger().error(f"Не удалось преобразовать кадр: {error}")
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return
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preview = cv2.resize(cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY), (64, 48))
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if self.previous is not None:
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change = float(np.mean(cv2.absdiff(preview, self.previous)))
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if change < args.min_change:
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return
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filename = output / f"frame_{datetime.now():%Y%m%d_%H%M%S_%f}_{self.saved:03d}.jpg"
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if not cv2.imwrite(
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str(filename), frame, [cv2.IMWRITE_JPEG_QUALITY, args.jpeg_quality]
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):
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self.get_logger().error(f"Не удалось записать {filename}")
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return
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self.previous = preview
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self.last_save = now
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self.saved += 1
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print(f"[{self.saved}/{args.count}] {filename}", flush=True)
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rclpy.init()
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node = Collector()
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started = time.monotonic()
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print(f"Камера: {args.topic}")
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print("Плавно двигайте RMC1 или манипулятор, чтобы ракурсы менялись.")
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try:
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while rclpy.ok() and node.saved < args.count:
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if time.monotonic() - started >= args.timeout:
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break
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rclpy.spin_once(node, timeout_sec=0.2)
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except KeyboardInterrupt:
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pass
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finally:
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saved = node.saved
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node.destroy_node()
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rclpy.shutdown()
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print(f"Готово: сохранено {saved} кадров в {output}")
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if saved == 0:
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raise SystemExit(1)
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if __name__ == "__main__":
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main()
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