*iU dZddlmZmZddlmZddlmZddlm Z m Z ddl Z eGddZ Gd d eZdS) z6Abstract camera interface for recording and conversion)ABCabstractmethod) dataclass)Path)OptionalTupleNcReZdZUdZejed<eejed<eed<dS) CameraFramezA single camera framecolordepth timestamp_nsN) __name__ __module__ __qualname____doc__npndarray__annotations__rint1/home/robot-lab/raiden_cmu/raiden/cameras/base.pyr r sE : BJ rr ceZdZdZeedefdZeedefdZeedefdZ eddZ eddZ ed e ddfd Z edd Zedefd Zedefd ZdefdZedeejejeeefffdZdS)CamerauAbstract base class for cameras. Supports two usage modes: - Live recording: open() → start_recording(path) → grab() loop → stop_recording() → close() - File playback: open_file(path) → grab() loop → get_frame() → close() returncdS)z;Semantic name assigned to this camera (e.g. 'scene_camera')Nrselfs rnamez Camera.name  rcdS)z'Camera hardware serial number as stringNrrs r serial_numberzCamera.serial_number"r rcdS)z=File extension used for native recording (e.g. 'svo2', 'bag')Nrrs rrecording_extensionzCamera.recording_extension(r rNcdS)zOpen live camera connectionNrrs ropenz Camera.open.  rcdS)z&Close camera and release all resourcesNrrs rclosez Camera.close3r'rpathcdS)zBegin recording to file. For ZED this enables SVO2 recording; every subsequent grab() is stored. For RealSense this starts a .bag recorder. Nr)rr*s rstart_recordingzCamera.start_recording8s  rcdS)z+Stop recording and finalize the output fileNrrs rstop_recordingzCamera.stop_recordingAr'rcdS)a Grab the next available frame. Blocks until a frame is ready (rate-limited to camera FPS). While recording is active, the frame is also written to the output file. Returns: True on success, False on error or end-of-file Nrrs rgrabz Camera.grabFs  rcdS)z~Retrieve color and depth from the most recently grabbed frame. Only valid to call after a successful grab(). Nrrs r get_framezCamera.get_frameRs rc2ddl}|S)alCurrent host time in nanoseconds. The default implementation uses ``time.time_ns()``. Camera subclasses that have their own hardware clock (e.g. ZED) should override this so that the returned value is on the *same clock* as ``CameraFrame.timestamp_ns``, enabling direct interpolation between robot data and camera frames. rN)timetime_ns)rr4s rget_current_timestamp_nszCamera.get_current_timestamp_nsZs  ||~~rcdS)aReturn factory-calibrated camera intrinsics. These come directly from the camera SDK (ZED factory calibration, RealSense on-device calibration) rather than being computed from images. Returns: camera_matrix: 3x3 float64 array ``[[fx,0,cx],[0,fy,cy],[0,0,1]]`` dist_coeffs: 1-D float64 array ``[k1, k2, p1, p2, k3]`` (OpenCV Brown-Conrady) image_size: ``(width, height)`` in pixels Nrrs rget_intrinsicszCamera.get_intrinsicsfs  r)rN)rrrrpropertyrstrrr"r$r&r)rr,r.boolr0r r2rr6rrrr8rrrrrs c   ^X  s   ^X  S   ^X    ^    ^  D T   ^    ^   d    ^   ;   ^  #      bj"*eCHo&M N    ^    rr)rabcrr dataclassesrpathlibrtypingrrnumpyrr rrrrrAs<<########!!!!!!""""""""  ^ ^ ^ ^ ^ S^ ^ ^ ^ ^ r