v2.0.0

refactor: rename package

test: add test_reprojection script

README.md

@@ -7,15 +7,15 @@ A set of Python scripts to operate Intel Realsense Cameras. By using multi-threa
 ### From Source
 
 ```shell
-git clone https://github.com/mvig-robotflow/rfimu-realsense-recorder
-cd rfimu-realsense-recorder
+git clone https://github.com/mvig-robotflow/rfimarkit-rs-recorder
+cd rfimarkit-rs-recorder
 python setup.py
 ```
 
 ### From PyPi
 
 ```shell
-python -m pip install markit-realsense-recorder
+python -m pip install markit-rs-recorder
 ```
 
 ## Usage
@@ -28,7 +28,7 @@ import io
 import cv2
 import numpy as np
 import yaml
-from realsense_recorder.common import new_realsense_camera_system_from_config, RealsenseSystemModel
+from markit_rs_recorder.common import new_realsense_camera_system_from_config, RealsenseSystemModel
 
 cfg_str = """
 realsense:
@@ -72,6 +72,7 @@ def main():
             cv2.destroyAllWindows()
             break
 
+
 main()
 ```
 
@@ -80,30 +81,30 @@ main()
 To Create and persist record configuration:
 
 ```shell
-python -m realsense_recorder configure
+python -m markit_rs_recorder configure
 ```
 
 To launch a remote record station that supports REST API
 
 ```shell
-python -m realsense_recorder serve
+python -m markit_rs_recorder serve
 ```
 
 To launch a remote record station that is calibrated 
 ```shell
-python -m realsense_recorder serve --calibration=path/to/calibration
+python -m markit_rs_recorder serve --calibration=path/to/calibration
 ```
 
 > Note: The calibration.json file is expected to be in the `path/to/calibration` directory. The calibration file can be generated by running `python -m realsense_recorder calibrate`
 
 To run calibration
 
 ```shell
-python -m realsense_recorder calibrate
+python -m markit_rs_recorder calibrate
 ```
 
 To run post-processing
 
 ```shell
-python -m realsense_recorder post_process --base_dir path/to/recording
+python -m markit_rs_recorder post_process --base_dir path/to/recording
 ```

realsense_recorder/__main__.py → markit_rs_recorder/__main__.py

@@ -1,7 +1,7 @@
 import argparse
 import sys
-import realsense_recorder.scripts as scripts
-import realsense_recorder.cmd as cmd
+import markit_rs_recorder.scripts as scripts
+import markit_rs_recorder.cmd as cmd
 
 parser = argparse.ArgumentParser()
 

realsense_recorder/cmd/calibrate.py → markit_rs_recorder/cmd/calibrate.py

@@ -13,7 +13,7 @@
 from rich.progress import track
 import numpy as np
 
-from realsense_recorder.common import (
+from markit_rs_recorder.common import (
     RealsenseCameraCfg,
     RealsenseSystemCfg,
     RealsenseSystemModel,

realsense_recorder/cmd/post_process.py → markit_rs_recorder/cmd/post_process.py

@@ -2,7 +2,7 @@
 import numpy as np
 from typing import Tuple
 
-from realsense_recorder.io import compress_record, sync_cameras
+from markit_rs_recorder.io import compress_record, sync_cameras
 
 # def detect_fiducials(base_dir: str):
 #     pass

realsense_recorder/cmd/serve.py → markit_rs_recorder/cmd/serve.py

@@ -20,7 +20,7 @@
 from fastapi.responses import JSONResponse, RedirectResponse
 import pyrealsense2 as rs
 
-from realsense_recorder.common import (
+from markit_rs_recorder.common import (
     CALLBACKS,
     new_realsense_camera_system_from_yaml_file,
     RealsenseSystemModel,

realsense_recorder/common/utils.py → markit_rs_recorder/common/utils.py

@@ -5,7 +5,7 @@
 import pyrealsense2 as rs
 import cv2
 
-from realsense_recorder.common import new_camera_config_by_device, new_system_config
+from markit_rs_recorder.common import new_camera_config_by_device, new_system_config
 
 
 def enumerate_connected_devices(ctx: rs.context):

realsense_recorder/io/Compression.py → markit_rs_recorder/io/Compression.py

@@ -9,7 +9,7 @@
 import cv2
 import numpy as np
 import tqdm
-from realsense_recorder.io import get_directory_reader
+from markit_rs_recorder.io import get_directory_reader
 from rich.console import Console
 
 console = None

realsense_recorder/scripts/configure.py → markit_rs_recorder/scripts/configure.py

@@ -4,7 +4,7 @@
 import yaml
 from rich.console import Console
 
-from realsense_recorder.common import configure_realsense_system_from_keyboard
+from markit_rs_recorder.common import configure_realsense_system_from_keyboard
 
 
 def main(args: argparse.Namespace):

setup.py

@@ -2,21 +2,21 @@
 
 from setuptools import setup
 
-requires = open("./requirements.txt", "r").readlines() if os.path.exists("./requirements.txt") else open("./markit_realsense_recorder.egg-info/requires.txt", "r").readlines()
+requires = open("./requirements.txt", "r").readlines() if os.path.exists("./requirements.txt") else open("./markit_rs_recorder.egg-info/requires.txt", "r").readlines()
 
 setup(
-    name="markit-realsense-recorder",
-    version="1.8.2",
+    name="markit-rs-recorder",
+    version="2.0.0",
     author="davidliyutong",
     author_email="davidliyutong@sjtu.edu.cn",
     description="Realsense remote recorder",
     packages=[
-        "realsense_recorder",
-        "realsense_recorder/cmd",
-        "realsense_recorder/common",
-        "realsense_recorder/filters",
-        "realsense_recorder/io",
-        "realsense_recorder/scripts",
+        "markit_rs_recorder",
+        "markit_rs_recorder/cmd",
+        "markit_rs_recorder/common",
+        "markit_rs_recorder/filters",
+        "markit_rs_recorder/io",
+        "markit_rs_recorder/scripts",
     ],
     python_requires=">=3.6",
     install_requires=requires,

tests/test_load_config.py

@@ -1,4 +1,4 @@
-from realsense_recorder.common.record import new_realsense_camera_system_from_yaml_file
+from markit_rs_recorder.common.record import new_realsense_camera_system_from_yaml_file
 
 p = new_realsense_camera_system_from_yaml_file("./realsense_config.yaml")
 

tests/test_local_capture_static_interactive.py

@@ -1,4 +1,4 @@
-from realsense_recorder.cmd.calibrate import main
+from markit_rs_recorder.cmd.calibrate import main
 
 
 class DefaultArgs:

tests/test_local_record_seq.py

@@ -1,4 +1,4 @@
-from realsense_recorder.cmd.local_record_seq import main
+from markit_rs_recorder.cmd.local_record_seq import main
 
 
 class DefaultArgs:

tests/test_reprojection.py

@@ -0,0 +1,20 @@
+import sys
+
+# NOTES to YUTONG:
+# New dependencies
+from markit_rs_recorder.filters.fiducial import detect_fiducial_marker
+
+# pip install pupil_apriltags -- works on Ubuntu but not on Windows
+# Search "MAGIC NUMBER" for magic numbers
+
+
+if __name__ == '__main__':
+    argv = sys.argv[1:]
+    detect_fiducial_marker(
+        "../virat/realsense_data/2023-04-21_202607", 
+        marker_length_m=0.015, 
+        enabled_cameras=['r08', 'r85'],
+        april_tag_family="tag25h9",
+        sequence_length=10,
+        debug=True
+    )