第一次完整测例跑完

unitree_deploy/test/camera/test_image_client_camera.py

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+import time
+
+import cv2
+import numpy as np
+import torch
+from tqdm import tqdm
+
+from unitree_deploy.robot_devices.cameras.configs import ImageClientCameraConfig
+from unitree_deploy.robot_devices.cameras.utils import make_cameras_from_configs
+from unitree_deploy.utils.rich_logger import log_success
+
+
+# ============================From configs============================
+def run_camera():
+    def image_client_default_factory():
+        return {
+            "imageclient": ImageClientCameraConfig(
+                head_camera_type="opencv",
+                head_camera_id_numbers=[4],
+                head_camera_image_shape=[480, 1280],  # Head camera resolution
+                wrist_camera_type="opencv",
+                wrist_camera_id_numbers=[0, 2],
+                wrist_camera_image_shape=[480, 640],  # Wrist camera resolution
+                aspect_ratio_threshold=2.0,
+                fps=30,
+                mock=False,
+            ),
+        }
+
+    # ===========================================
+
+    cameras = make_cameras_from_configs(image_client_default_factory())
+    print(cameras)
+    for name in cameras:
+        cameras[name].connect()
+        log_success(f"Connecting {name} cameras.")
+
+    for _ in tqdm(range(20), desc="Camera warming up"):
+        for name in cameras:
+            cameras[name].async_read()
+        time.sleep(1 / 30)
+
+    while True:
+        images = {}
+        for name in cameras:
+            output = cameras[name].async_read()
+            if isinstance(output, dict):
+                for k, v in output.items():
+                    images[k] = torch.from_numpy(v)
+            else:
+                images[name] = torch.from_numpy(output)
+
+        image_list = [np.stack([img.numpy()] * 3, axis=-1) if img.ndim == 2 else img.numpy() for img in images.values()]
+
+        stacked_image = np.hstack(image_list)
+        cv2.imshow("Stacked Image", stacked_image)
+
+        if (cv2.waitKey(1) & 0xFF) == ord("q"):
+            cv2.destroyAllWindows()
+            break
+
+
+if __name__ == "__main__":
+    run_camera()