commit recorder.py

source/recorder.py

@@ -0,0 +1,103 @@
+import sys
+import os
+import pyzed.sl as sl
+import threading
+import time
+from signal import signal, SIGINT
+
+zed_list = []
+timestamp_list = []
+thread_list = []
+stop_signal = False
+frame_list = []
+
+record_time_per_svo = 1800
+
+name_time_list = []
+
+
+root_path = "/data/"
+filenames = os.listdir(root_path)
+for f in filenames:
+    w_time = os.path.getctime(root_path + f)
+    name_time_list.append((f, w_time))
+sorted_list = sorted(name_time_list, key=lambda x: x[1], reverse=True)
+
+recent_file = sorted_list[0]
+target_dir = str(root_path) + str(recent_file[0])
+
+
+def handler(signal, frame):
+    global stop_signal
+    global zed_list
+    stop_signal = True    
+    time.sleep(2)
+    exit()
+
+def grab_run(index, cameras):
+    global stop_signal
+    global zed_list
+    global timestamp_list
+    global left_list
+    global depth_list
+    global frame_list
+    global taget_dir
+
+    runtime = sl.RuntimeParameters()
+    shard_count = 0
+    while not stop_signal:
+        #I need loop and 1800ms
+        if frame_list[index] % record_time_per_svo == 0:
+            filepath = '%s/%s_%s.svo'%(target_dir,str(shard_count).zfill(3),cameras[index].id+1)
+            record_params = sl.RecordingParameters(filepath, sl.SVO_COMPRESSION_MODE.H264)
+            err = zed_list[index].enable_recording(record_params)
+            #print('new shard created')
+            shard_count += 1
+            if zed_list[index].grab(runtime) == sl.ERROR_CODE.SUCCESS :
+                frame_list[index] += 1
+        #if zed_list[index].grab() == "SUCCESS":
+        #    zed_list[index].record()
+        print("Frame count: " + str(frame_list[index]), end='\r')
+        if zed_list[index].grab(runtime) == sl.ERROR_CODE.SUCCESS :
+            frame_list[index] += 1
+
+    zed_list[index].disable_recording()
+    print('saved')    
+
+def main():
+
+    signal(SIGINT, handler)
+
+    print('Running...')
+    init = sl.InitParameters()
+    init.camera_resolution = sl.RESOLUTION.HD1080
+    init.camera_fps = 30
+
+    name_list = []
+
+    cameras = sl.Camera.get_device_list()
+    print(cameras)
+    index = 0
+    for cam in cameras:
+        init.set_from_serial_number(cam.serial_number)
+        name_list.append("ZED {}".format(cam.serial_number))
+        print("Opening {}".format(name_list[index]))
+        zed_list.append(sl.Camera())
+        timestamp_list.append(0)
+        frame_list.append(0)
+        status = zed_list[index].open(init)
+        if status != sl.ERROR_CODE.SUCCESS:
+            print(repr(status))
+            zed_list[index].close()
+        index = index +1
+
+    #Start camera threads
+    for index in range(0, len(zed_list)):
+        if zed_list[index].is_opened():
+            thread_list.append(threading.Thread(target=grab_run, args=(index,cameras)))
+            thread_list[index].start()
+
+
+
+if __name__ == "__main__":
+    main()