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102 lines
5.4 KiB
102 lines
5.4 KiB
import os, sys
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this_file = os.path.abspath(__file__)
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project_root = os.path.abspath(os.path.join(os.path.dirname(this_file), '..'))
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if project_root not in sys.path:
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sys.path.insert(0, project_root)
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import time
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from televuer import TeleVuer
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import logging_mp
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logger_mp = logging_mp.get_logger(__name__, level=logging_mp.INFO)
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def run_test_TeleVuer():
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use_hand_track = False
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# teleimager, if you want to test real image streaming, make sure teleimager server is running
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from teleimager.image_client import ImageClient
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img_client = ImageClient(host="192.168.123.164")
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camera_config = img_client.get_cam_config()
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# teleimager + televuer
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tv = TeleVuer(use_hand_tracking=use_hand_track,
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binocular=camera_config['head_camera']['binocular'],
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img_shape=camera_config['head_camera']['image_shape'],
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display_fps=camera_config['head_camera']['fps'],
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display_mode="immersive", # "ego" or "immersive" or "pass-through"
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zmq=camera_config['head_camera']['enable_zmq'],
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webrtc=camera_config['head_camera']['enable_webrtc'],
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webrtc_url=f"https://192.168.123.164:{camera_config['head_camera']['webrtc_port']}/offer"
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)
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# pure televuer
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# tv = TeleVuer(use_hand_tracking=use_hand_track,
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# binocular=True,
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# img_shape=(480, 1280),
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# display_fps=30.0,
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# display_mode="ego", # "ego" or "immersive" or "pass-through"
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# zmq=False,
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# webrtc=True,
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# webrtc_url="https://192.168.123.164:60001/offer"
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# )
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try:
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input("Press Enter to start TeleVuer test...")
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running = True
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while running:
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img, _= img_client.get_head_frame()
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tv.render_to_xr(img)
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start_time = time.time()
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logger_mp.info("=" * 80)
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logger_mp.info("Common Data (always available):")
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logger_mp.info(f"head_pose shape: {tv.head_pose.shape}\n{tv.head_pose}\n")
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logger_mp.info(f"left_arm_pose shape: {tv.left_arm_pose.shape}\n{tv.left_arm_pose}\n")
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logger_mp.info(f"right_arm_pose shape: {tv.right_arm_pose.shape}\n{tv.right_arm_pose}\n")
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logger_mp.info("=" * 80)
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if use_hand_track:
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logger_mp.info("Hand Tracking Data:")
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logger_mp.info(f"left_hand_positions shape: {tv.left_hand_positions.shape}\n{tv.left_hand_positions}\n")
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logger_mp.info(f"right_hand_positions shape: {tv.right_hand_positions.shape}\n{tv.right_hand_positions}\n")
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logger_mp.info(f"left_hand_orientations shape: {tv.left_hand_orientations.shape}\n{tv.left_hand_orientations}\n")
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logger_mp.info(f"right_hand_orientations shape: {tv.right_hand_orientations.shape}\n{tv.right_hand_orientations}\n")
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logger_mp.info(f"left_hand_pinch: {tv.left_hand_pinch}")
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logger_mp.info(f"left_hand_pinchValue: {tv.left_hand_pinchValue}")
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logger_mp.info(f"left_hand_squeeze: {tv.left_hand_squeeze}")
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logger_mp.info(f"left_hand_squeezeValue: {tv.left_hand_squeezeValue}")
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logger_mp.info(f"right_hand_pinch: {tv.right_hand_pinch}")
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logger_mp.info(f"right_hand_pinchValue: {tv.right_hand_pinchValue}")
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logger_mp.info(f"right_hand_squeeze: {tv.right_hand_squeeze}")
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logger_mp.info(f"right_hand_squeezeValue: {tv.right_hand_squeezeValue}")
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else:
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logger_mp.info("Controller Data:")
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logger_mp.info(f"left_ctrl_trigger: {tv.left_ctrl_trigger}")
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logger_mp.info(f"left_ctrl_triggerValue: {tv.left_ctrl_triggerValue}")
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logger_mp.info(f"left_ctrl_squeeze: {tv.left_ctrl_squeeze}")
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logger_mp.info(f"left_ctrl_squeezeValue: {tv.left_ctrl_squeezeValue}")
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logger_mp.info(f"left_ctrl_thumbstick: {tv.left_ctrl_thumbstick}")
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logger_mp.info(f"left_ctrl_thumbstickValue: {tv.left_ctrl_thumbstickValue}")
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logger_mp.info(f"left_ctrl_aButton: {tv.left_ctrl_aButton}")
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logger_mp.info(f"left_ctrl_bButton: {tv.left_ctrl_bButton}")
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logger_mp.info(f"right_ctrl_trigger: {tv.right_ctrl_trigger}")
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logger_mp.info(f"right_ctrl_triggerValue: {tv.right_ctrl_triggerValue}")
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logger_mp.info(f"right_ctrl_squeeze: {tv.right_ctrl_squeeze}")
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logger_mp.info(f"right_ctrl_squeezeValue: {tv.right_ctrl_squeezeValue}")
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logger_mp.info(f"right_ctrl_thumbstick: {tv.right_ctrl_thumbstick}")
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logger_mp.info(f"right_ctrl_thumbstickValue: {tv.right_ctrl_thumbstickValue}")
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logger_mp.info(f"right_ctrl_aButton: {tv.right_ctrl_aButton}")
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logger_mp.info(f"right_ctrl_bButton: {tv.right_ctrl_bButton}")
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logger_mp.info("=" * 80)
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current_time = time.time()
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time_elapsed = current_time - start_time
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sleep_time = max(0, 0.016 - time_elapsed)
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time.sleep(sleep_time)
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logger_mp.debug(f"main process sleep: {sleep_time}")
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except KeyboardInterrupt:
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running = False
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logger_mp.warning("KeyboardInterrupt, exiting program...")
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finally:
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tv.close()
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logger_mp.warning("Finally, exiting program...")
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exit(0)
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if __name__ == '__main__':
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run_test_TeleVuer()
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