Use auxdata.get_all_images() to get the images.

sandbox/threedpointfinder.py

@@ -17,18 +17,6 @@
 import os
 print(f"PID={os.getpid()}")
 
-def _parse_aux_description(description : str) -> Dict[str, Any]:
-    rv = {}
-    fields = description.split(',')
-    for f in fields:
-        k, v = f.split('=')
-        try:
-            v = int(v)
-        except ValueError:
-            pass
-        rv[k] = v
-    return rv
-
 # Check that we can convert image (x, y) positions to 3D (x, y, z) positions
 def main():
     configfile = sys.argv[1]
@@ -48,66 +36,9 @@ def main():
         assert auxdata
         if auxdata.count() > 0:
             break
-    old_code = False
-    if old_code:
-        rgb_images = {}
-        depth_images = {}
-        print(f"auxdata has {auxdata.count()} items")
-        for i in range(auxdata.count()):
-            print(f"auxdata {i}: name={auxdata.name(i)}, description={auxdata.description(i)}")
-            name = auxdata.name(i)
-            if name.startswith("rgb."):
-                serial = name[4:]
-                descrstr = auxdata.description(i)
-                descr = _parse_aux_description(descrstr)
-                width = descr["width"]
-                height = descr["height"]
-                stride = descr["stride"]
-                bpp = 0
-                if "bpp" in descr:
-                    bpp = descr["bpp"]
-                else:
-                    image_format = descr['format']
-                    if image_format == 2:
-                        bpp = 3 # RGB
-                    elif image_format == 3:
-                        bpp = 4 # RGBA
-                    elif image_format == 4:
-                        bpp = 2 # 16-bit grey
-                assert bpp
-                image_data = auxdata.data(i)
-                np_image_data_bytes = np.array(image_data)
-                np_image_data = np.reshape(np_image_data_bytes, (height, width, bpp))
-                np_image_data = np_image_data[:,:,[0,1,2]]
-                # Select B, G, R channels
-                # np_image_data = np_image_data[:,:,[2,1,0]]
-                rgb_images[serial] = np_image_data
-            elif name.startswith("depth."):
-                serial = name[6:]
-                descrstr = auxdata.description(i)
-                descr = _parse_aux_description(descrstr)
-                width = descr["width"]
-                height = descr["height"]
-                stride = descr["stride"]
-                bpp = 0
-                if "bpp" in descr:
-                    bpp = descr["bpp"]
-                else:
-                    image_format = descr['format']
-                    if image_format == 2:
-                        bpp = 3 # RGB
-                    elif image_format == 3:
-                        bpp = 4 # RGBA
-                    elif image_format == 4:
-                        bpp = 2 # 16-bit grey
-                assert bpp
-                image_data = auxdata.data(i)
-                np_image_data_bytes = np.array(image_data)
-                np_image_data = np.reshape(np_image_data_bytes, (height, width, bpp))
-                depth_images[serial] = np_image_data
-    else:
-        rgb_images = auxdata.get_all_images("rgb.")
-        depth_images = auxdata.get_all_images("depth.")
+
+    rgb_images = auxdata.get_all_images("rgb.")
+    depth_images = auxdata.get_all_images("depth.")
     serials = rgb_images.keys()
     serial_to_tilenum = {}
     for t in range(grabber.maxtile()):
@@ -121,11 +52,7 @@ def main():
         rgb_image = rgb_images[serial]
         depth_image = depth_images[serial]
         rgb = rgb_image[y, x]
-        if old_code:
-            depth_bytes = depth_image[y, x]
-            depth = float(depth_bytes[0] + depth_bytes[1]*256)
-        else:
-            depth = float(depth_image[y, x])
+        depth = float(depth_image[y, x])
         print(f"serial {serial}: point={(x, y)}, distance={depth}, color={rgb}")
         # Pack the arguments
         arg_tilenum = float(serial_to_tilenum[serial])