diff --git a/.gitignore b/.gitignore index 42f20c5..556f0fe 100644 --- a/.gitignore +++ b/.gitignore @@ -85,7 +85,7 @@ ipython_config.py # pyenv # For a library or package, you might want to ignore these files since the code is # intended to run in multiple environments; otherwise, check them in: -# .python-version +.python-version # pipenv # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. @@ -98,7 +98,7 @@ ipython_config.py # Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control. # This is especially recommended for binary packages to ensure reproducibility, and is more # commonly ignored for libraries. -# uv.lock +uv.lock # poetry # Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. diff --git a/README.md b/README.md index ada9b94..84f640b 100644 --- a/README.md +++ b/README.md @@ -173,11 +173,21 @@ Scan the following QR code with your GoPro to apply all required camera settings ![Camera settings QR code](assets/camera_settings_qr.jpeg) +Once the settings are saved, the GoPro screen will show **"Labs-Trumi"** with the applied configuration: + +![Camera settings saved confirmation](assets/camera_settings_saved_check.jpg) + +**Note:** When using with ultra-wide lens, disable auto lens detection and manually set the lens to standard (Preferences > Lens Mod > Standard). This prevents GoPro from applying additional distortion correction, ensuring raw undistorted frames are saved. + ### Step 1: Timecode Sync **Note:** This step is only required for bi-manual (two-gripper) data collection. Skip it if you are using a single gripper. -Open the [timecode sync link](https://umi-gripper.github.io/qrlocal/) and scan the refreshing QR code using your GoPro (requires Labs firmware). Precise synchronization between the two grippers is critical for bi-manual data collection. +Serve the timecode sync page locally and open the printed URL in a browser, then scan the refreshing QR code using your GoPro (requires Labs firmware). Precise synchronization between the two grippers is critical for bi-manual data collection. + +```bash +uv run python scripts/serve_timecode_sync.py +``` **Tip:** Adjust your distance to the QR code if you have difficulty scanning. diff --git a/assets/camera_settings_saved_check.jpg b/assets/camera_settings_saved_check.jpg new file mode 100644 index 0000000..1514561 Binary files /dev/null and b/assets/camera_settings_saved_check.jpg differ diff --git a/assets/timecode_sync/index.html b/assets/timecode_sync/index.html new file mode 100644 index 0000000..bfde313 --- /dev/null +++ b/assets/timecode_sync/index.html @@ -0,0 +1,216 @@ + + + + + + + + + + + + + + + +
+

Precision Date and Time (Local)

+ + + + + +

Refresh Rate FPS

+ +

Timezone hour minute

+ +

Daylight Saving Time

+ +

QR Command Set Time

+ +

Simply point your Labs enabled camera at this animated QR Code, to set your date and time very accurately to local time. This is particularly useful for multi-camera shoots, as it helps synchronize the timecode between cameras. As the camera’s internal clock will drift slowly over time, use this QR Code just before your multi-camera shoot for the best synchronization.

+ +
+
+
+
+

QR Command:

+ +

Compatibility: Labs enabled HERO5 Session, HERO7, HERO8, HERO9, HERO10, HERO11, HERO12, HERO13, MAX and BONES

+ + + +
+ + diff --git a/assets/timecode_sync/qrcodeborder.js b/assets/timecode_sync/qrcodeborder.js new file mode 100644 index 0000000..eb6b90c --- /dev/null +++ b/assets/timecode_sync/qrcodeborder.js @@ -0,0 +1,624 @@ +/** + * @fileoverview + * - Using the 'QRCode for Javascript library' + * - Fixed dataset of 'QRCode for Javascript library' for support full-spec. + * - this library has no dependencies. + * + * @author davidshimjs + * @see http://www.d-project.com/ + * @see http://jeromeetienne.github.com/jquery-qrcode/ + */ +var QRCode; + +(function () { + //--------------------------------------------------------------------- + // QRCode for JavaScript + // + // Copyright (c) 2009 Kazuhiko Arase + // + // URL: http://www.d-project.com/ + // + // Licensed under the MIT license: + // http://www.opensource.org/licenses/mit-license.php + // + // The word "QR Code" is registered trademark of + // DENSO WAVE INCORPORATED + // http://www.denso-wave.com/qrcode/faqpatent-e.html + // + //--------------------------------------------------------------------- + function QR8bitByte(data) { + this.mode = QRMode.MODE_8BIT_BYTE; + this.data = data; + this.parsedData = []; + + // Added to support UTF-8 Characters + for (var i = 0, l = this.data.length; i < l; i++) { + var byteArray = []; + var code = this.data.charCodeAt(i); + + if (code > 0x10000) { + byteArray[0] = 0xF0 | ((code & 0x1C0000) >>> 18); + byteArray[1] = 0x80 | ((code & 0x3F000) >>> 12); + byteArray[2] = 0x80 | ((code & 0xFC0) >>> 6); + byteArray[3] = 0x80 | (code & 0x3F); + } else if (code > 0x800) { + byteArray[0] = 0xE0 | ((code & 0xF000) >>> 12); + byteArray[1] = 0x80 | ((code & 0xFC0) >>> 6); + byteArray[2] = 0x80 | (code & 0x3F); + } else if (code > 0x80) { + byteArray[0] = 0xC0 | ((code & 0x7C0) >>> 6); + byteArray[1] = 0x80 | (code & 0x3F); + } else { + byteArray[0] = code; + } + + this.parsedData.push(byteArray); + } + + this.parsedData = Array.prototype.concat.apply([], this.parsedData); + + if (this.parsedData.length != this.data.length) { + this.parsedData.unshift(191); + this.parsedData.unshift(187); + this.parsedData.unshift(239); + } + } + + QR8bitByte.prototype = { + getLength: function (buffer) { + return this.parsedData.length; + }, + write: function (buffer) { + for (var i = 0, l = this.parsedData.length; i < l; i++) { + buffer.put(this.parsedData[i], 8); + } + } + }; + + function QRCodeModel(typeNumber, errorCorrectLevel) { + this.typeNumber = typeNumber; + this.errorCorrectLevel = errorCorrectLevel; + this.modules = null; + this.moduleCount = 0; + this.dataCache = null; + this.dataList = []; + } + + QRCodeModel.prototype={addData:function(data){var newData=new QR8bitByte(data);this.dataList.push(newData);this.dataCache=null;},isDark:function(row,col){if(row<0||this.moduleCount<=row||col<0||this.moduleCount<=col){throw new Error(row+","+col);} + return this.modules[row][col];},getModuleCount:function(){return this.moduleCount;},make:function(){this.makeImpl(false,this.getBestMaskPattern());},makeImpl:function(test,maskPattern){this.moduleCount=this.typeNumber*4+17;this.modules=new Array(this.moduleCount);for(var row=0;row=7){this.setupTypeNumber(test);} + if(this.dataCache==null){this.dataCache=QRCodeModel.createData(this.typeNumber,this.errorCorrectLevel,this.dataList);} + this.mapData(this.dataCache,maskPattern);},setupPositionProbePattern:function(row,col){for(var r=-1;r<=7;r++){if(row+r<=-1||this.moduleCount<=row+r)continue;for(var c=-1;c<=7;c++){if(col+c<=-1||this.moduleCount<=col+c)continue;if((0<=r&&r<=6&&(c==0||c==6))||(0<=c&&c<=6&&(r==0||r==6))||(2<=r&&r<=4&&2<=c&&c<=4)){this.modules[row+r][col+c]=true;}else{this.modules[row+r][col+c]=false;}}}},getBestMaskPattern:function(){var minLostPoint=0;var pattern=0;for(var i=0;i<8;i++){this.makeImpl(true,i);var lostPoint=QRUtil.getLostPoint(this);if(i==0||minLostPoint>lostPoint){minLostPoint=lostPoint;pattern=i;}} + return pattern;},createMovieClip:function(target_mc,instance_name,depth){var qr_mc=target_mc.createEmptyMovieClip(instance_name,depth);var cs=1;this.make();for(var row=0;row>i)&1)==1);this.modules[Math.floor(i/3)][i%3+this.moduleCount-8-3]=mod;} + for(var i=0;i<18;i++){var mod=(!test&&((bits>>i)&1)==1);this.modules[i%3+this.moduleCount-8-3][Math.floor(i/3)]=mod;}},setupTypeInfo:function(test,maskPattern){var data=(this.errorCorrectLevel<<3)|maskPattern;var bits=QRUtil.getBCHTypeInfo(data);for(var i=0;i<15;i++){var mod=(!test&&((bits>>i)&1)==1);if(i<6){this.modules[i][8]=mod;}else if(i<8){this.modules[i+1][8]=mod;}else{this.modules[this.moduleCount-15+i][8]=mod;}} + for(var i=0;i<15;i++){var mod=(!test&&((bits>>i)&1)==1);if(i<8){this.modules[8][this.moduleCount-i-1]=mod;}else if(i<9){this.modules[8][15-i-1+1]=mod;}else{this.modules[8][15-i-1]=mod;}} + this.modules[this.moduleCount-8][8]=(!test);},mapData:function(data,maskPattern){var inc=-1;var row=this.moduleCount-1;var bitIndex=7;var byteIndex=0;for(var col=this.moduleCount-1;col>0;col-=2){if(col==6)col--;while(true){for(var c=0;c<2;c++){if(this.modules[row][col-c]==null){var dark=false;if(byteIndex>>bitIndex)&1)==1);} + var mask=QRUtil.getMask(maskPattern,row,col-c);if(mask){dark=!dark;} + this.modules[row][col-c]=dark;bitIndex--;if(bitIndex==-1){byteIndex++;bitIndex=7;}}} + row+=inc;if(row<0||this.moduleCount<=row){row-=inc;inc=-inc;break;}}}}};QRCodeModel.PAD0=0xEC;QRCodeModel.PAD1=0x11;QRCodeModel.createData=function(typeNumber,errorCorrectLevel,dataList){var rsBlocks=QRRSBlock.getRSBlocks(typeNumber,errorCorrectLevel);var buffer=new QRBitBuffer();for(var i=0;itotalDataCount*8){throw new Error("code length overflow. (" + +buffer.getLengthInBits() + +">" + +totalDataCount*8 + +")");} + if(buffer.getLengthInBits()+4<=totalDataCount*8){buffer.put(0,4);} + while(buffer.getLengthInBits()%8!=0){buffer.putBit(false);} + while(true){if(buffer.getLengthInBits()>=totalDataCount*8){break;} + buffer.put(QRCodeModel.PAD0,8);if(buffer.getLengthInBits()>=totalDataCount*8){break;} + buffer.put(QRCodeModel.PAD1,8);} + return QRCodeModel.createBytes(buffer,rsBlocks);};QRCodeModel.createBytes=function(buffer,rsBlocks){var offset=0;var maxDcCount=0;var maxEcCount=0;var dcdata=new Array(rsBlocks.length);var ecdata=new Array(rsBlocks.length);for(var r=0;r=0)?modPoly.get(modIndex):0;}} + var totalCodeCount=0;for(var i=0;i=0){d^=(QRUtil.G15<<(QRUtil.getBCHDigit(d)-QRUtil.getBCHDigit(QRUtil.G15)));} + return((data<<10)|d)^QRUtil.G15_MASK;},getBCHTypeNumber:function(data){var d=data<<12;while(QRUtil.getBCHDigit(d)-QRUtil.getBCHDigit(QRUtil.G18)>=0){d^=(QRUtil.G18<<(QRUtil.getBCHDigit(d)-QRUtil.getBCHDigit(QRUtil.G18)));} + return(data<<12)|d;},getBCHDigit:function(data){var digit=0;while(data!=0){digit++;data>>>=1;} + return digit;},getPatternPosition:function(typeNumber){return QRUtil.PATTERN_POSITION_TABLE[typeNumber-1];},getMask:function(maskPattern,i,j){switch(maskPattern){case QRMaskPattern.PATTERN000:return(i+j)%2==0;case QRMaskPattern.PATTERN001:return i%2==0;case QRMaskPattern.PATTERN010:return j%3==0;case QRMaskPattern.PATTERN011:return(i+j)%3==0;case QRMaskPattern.PATTERN100:return(Math.floor(i/2)+Math.floor(j/3))%2==0;case QRMaskPattern.PATTERN101:return(i*j)%2+(i*j)%3==0;case QRMaskPattern.PATTERN110:return((i*j)%2+(i*j)%3)%2==0;case QRMaskPattern.PATTERN111:return((i*j)%3+(i+j)%2)%2==0;default:throw new Error("bad maskPattern:"+maskPattern);}},getErrorCorrectPolynomial:function(errorCorrectLength){var a=new QRPolynomial([1],0);for(var i=0;i5){lostPoint+=(3+sameCount-5);}}} + for(var row=0;row=256){n-=255;} + return QRMath.EXP_TABLE[n];},EXP_TABLE:new Array(256),LOG_TABLE:new Array(256)};for(var i=0;i<8;i++){QRMath.EXP_TABLE[i]=1<>>(7-index%8))&1)==1;},put:function(num,length){for(var i=0;i>>(length-i-1))&1)==1);}},getLengthInBits:function(){return this.length;},putBit:function(bit){var bufIndex=Math.floor(this.length/8);if(this.buffer.length<=bufIndex){this.buffer.push(0);} + if(bit){this.buffer[bufIndex]|=(0x80>>>(this.length%8));} + this.length++;}};var QRCodeLimitLength=[[17,14,11,7],[32,26,20,14],[53,42,32,24],[78,62,46,34],[106,84,60,44],[134,106,74,58],[154,122,86,64],[192,152,108,84],[230,180,130,98],[271,213,151,119],[321,251,177,137],[367,287,203,155],[425,331,241,177],[458,362,258,194],[520,412,292,220],[586,450,322,250],[644,504,364,280],[718,560,394,310],[792,624,442,338],[858,666,482,382],[929,711,509,403],[1003,779,565,439],[1091,857,611,461],[1171,911,661,511],[1273,997,715,535],[1367,1059,751,593],[1465,1125,805,625],[1528,1190,868,658],[1628,1264,908,698],[1732,1370,982,742],[1840,1452,1030,790],[1952,1538,1112,842],[2068,1628,1168,898],[2188,1722,1228,958],[2303,1809,1283,983],[2431,1911,1351,1051],[2563,1989,1423,1093],[2699,2099,1499,1139],[2809,2213,1579,1219],[2953,2331,1663,1273]]; + + function _isSupportCanvas() { + return typeof CanvasRenderingContext2D != "undefined"; + } + + // android 2.x doesn't support Data-URI spec + function _getAndroid() { + var android = false; + var sAgent = navigator.userAgent; + + if (/android/i.test(sAgent)) { // android + android = true; + var aMat = sAgent.toString().match(/android ([0-9]\.[0-9])/i); + + if (aMat && aMat[1]) { + android = parseFloat(aMat[1]); + } + } + + return android; + } + + var svgDrawer = (function() { + + var Drawing = function (el, htOption) { + this._el = el; + this._htOption = htOption; + }; + + Drawing.prototype.draw = function (oQRCode) { + var _htOption = this._htOption; + var _el = this._el; + var nCount = oQRCode.getModuleCount()+4; + var nWidth = Math.floor(_htOption.width / nCount); + var nHeight = Math.floor(_htOption.height / nCount); + + this.clear(); + + function makeSVG(tag, attrs) { + var el = document.createElementNS('http://www.w3.org/2000/svg', tag); + for (var k in attrs) + if (attrs.hasOwnProperty(k)) el.setAttribute(k, attrs[k]); + return el; + } + + var svg = makeSVG("svg" , {'viewBox': '0 0 ' + String(nCount) + " " + String(nCount), 'width': '100%', 'height': '100%', 'fill': _htOption.colorLight}); + svg.setAttributeNS("http://www.w3.org/2000/xmlns/", "xmlns:xlink", "http://www.w3.org/1999/xlink"); + _el.appendChild(svg); + + svg.appendChild(makeSVG("rect", {"fill": _htOption.colorLight, "width": "100%", "height": "100%"})); + svg.appendChild(makeSVG("rect", {"fill": _htOption.colorDark, "width": "1", "height": "1", "id": "template"})); + + for (var row = 0; row < nCount; row++) { + for (var col = 0; col < nCount; col++) { + if(row >= 2 && row < nCount-2 && col >= 2 && col < nCount-2) { + if (oQRCode.isDark(row-2, col-2)) { + var child = makeSVG("use", {"x": String(col), "y": String(row)}); + child.setAttributeNS("http://www.w3.org/1999/xlink", "href", "#template") + svg.appendChild(child); + } + } + } + } + }; + Drawing.prototype.clear = function () { + while (this._el.hasChildNodes()) + this._el.removeChild(this._el.lastChild); + }; + return Drawing; + })(); + + var useSVG = document.documentElement.tagName.toLowerCase() === "svg"; + + // Drawing in DOM by using Table tag + var Drawing = useSVG ? svgDrawer : !_isSupportCanvas() ? (function () { + var Drawing = function (el, htOption) { + this._el = el; + this._htOption = htOption; + }; + + /** + * Draw the QRCode + * + * @param {QRCode} oQRCode + */ + Drawing.prototype.draw = function (oQRCode) { + var _htOption = this._htOption; + var _el = this._el; + var nCount = oQRCode.getModuleCount()+4; + var nWidth = Math.floor(_htOption.width / nCount); + var nHeight = Math.floor(_htOption.height / nCount); + var aHTML = ['']; + + for (var row = 0; row < nCount; row++) { + aHTML.push(''); + + for (var col = 0; col < nCount; col++) { + + if(row >= 2 && row < nCount-2 && col >= 2 && col < nCount-2) + aHTML.push(''); + else + aHTML.push(''); + } + + aHTML.push(''); + } + + aHTML.push('
'); + _el.innerHTML = aHTML.join(''); + + // Fix the margin values as real size. + var elTable = _el.childNodes[0]; + var nLeftMarginTable = (_htOption.width - elTable.offsetWidth) / 2; + var nTopMarginTable = (_htOption.height - elTable.offsetHeight) / 2; + + if (nLeftMarginTable > 0 && nTopMarginTable > 0) { + elTable.style.margin = nTopMarginTable + "px " + nLeftMarginTable + "px"; + } + }; + + /** + * Clear the QRCode + */ + Drawing.prototype.clear = function () { + this._el.innerHTML = ''; + }; + + return Drawing; + })() : (function () { // Drawing in Canvas + function _onMakeImage() { + this._elImage.src = this._elCanvas.toDataURL("image/png"); + this._elImage.style.display = "block"; + this._elCanvas.style.display = "none"; + } + + // Android 2.1 bug workaround + // http://code.google.com/p/android/issues/detail?id=5141 + if (this._android && this._android <= 2.1) { + var factor = 1 / window.devicePixelRatio; + var drawImage = CanvasRenderingContext2D.prototype.drawImage; + CanvasRenderingContext2D.prototype.drawImage = function (image, sx, sy, sw, sh, dx, dy, dw, dh) { + if (("nodeName" in image) && /img/i.test(image.nodeName)) { + for (var i = arguments.length - 1; i >= 1; i--) { + arguments[i] = arguments[i] * factor; + } + } else if (typeof dw == "undefined") { + arguments[1] *= factor; + arguments[2] *= factor; + arguments[3] *= factor; + arguments[4] *= factor; + } + + drawImage.apply(this, arguments); + }; + } + + /** + * Check whether the user's browser supports Data URI or not + * + * @private + * @param {Function} fSuccess Occurs if it supports Data URI + * @param {Function} fFail Occurs if it doesn't support Data URI + */ + function _safeSetDataURI(fSuccess, fFail) { + var self = this; + self._fFail = fFail; + self._fSuccess = fSuccess; + + // Check it just once + if (self._bSupportDataURI === null) { + var el = document.createElement("img"); + var fOnError = function() { + self._bSupportDataURI = false; + + if (self._fFail) { + self._fFail.call(self); + } + }; + var fOnSuccess = function() { + self._bSupportDataURI = true; + + if (self._fSuccess) { + self._fSuccess.call(self); + } + }; + + el.onabort = fOnError; + el.onerror = fOnError; + el.onload = fOnSuccess; + el.src = "data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAUAAAAFCAYAAACNbyblAAAAHElEQVQI12P4//8/w38GIAXDIBKE0DHxgljNBAAO9TXL0Y4OHwAAAABJRU5ErkJggg=="; // the Image contains 1px data. + return; + } else if (self._bSupportDataURI === true && self._fSuccess) { + self._fSuccess.call(self); + } else if (self._bSupportDataURI === false && self._fFail) { + self._fFail.call(self); + } + }; + + /** + * Drawing QRCode by using canvas + * + * @constructor + * @param {HTMLElement} el + * @param {Object} htOption QRCode Options + */ + var Drawing = function (el, htOption) { + this._bIsPainted = false; + this._android = _getAndroid(); + + this._htOption = htOption; + this._elCanvas = document.createElement("canvas"); + this._elCanvas.width = htOption.width; + this._elCanvas.height = htOption.height; + el.appendChild(this._elCanvas); + this._el = el; + this._oContext = this._elCanvas.getContext("2d"); + this._bIsPainted = false; + this._elImage = document.createElement("img"); + this._elImage.alt = "Scan me!"; + this._elImage.style.display = "none"; + this._el.appendChild(this._elImage); + this._bSupportDataURI = null; + }; + + /** + * Draw the QRCode + * + * @param {QRCode} oQRCode + */ + Drawing.prototype.draw = function (oQRCode) { + var _elImage = this._elImage; + var _oContext = this._oContext; + var _htOption = this._htOption; + + var nCount = oQRCode.getModuleCount()+4; + var nWidth = _htOption.width / nCount; + var nHeight = _htOption.height / nCount; + var nRoundedWidth = Math.round(nWidth); + var nRoundedHeight = Math.round(nHeight); + + _elImage.style.display = "none"; + this.clear(); + + for (var row = 0; row < nCount; row++) { + for (var col = 0; col < nCount; col++) { + + var bIsDark = 0; + + if(row >= 2 && row < nCount-2 && col >= 2 && col < nCount-2) + bIsDark = oQRCode.isDark(row-2, col-2); + var nLeft = col * nWidth; + var nTop = row * nHeight; + _oContext.strokeStyle = bIsDark ? _htOption.colorDark : _htOption.colorLight; + _oContext.lineWidth = 1; + _oContext.fillStyle = bIsDark ? _htOption.colorDark : _htOption.colorLight; + _oContext.fillRect(nLeft, nTop, nWidth, nHeight); + + // 안티 앨리어싱 방지 처리 + _oContext.strokeRect( + Math.floor(nLeft) + 0.5, + Math.floor(nTop) + 0.5, + nRoundedWidth, + nRoundedHeight + ); + + _oContext.strokeRect( + Math.ceil(nLeft) - 0.5, + Math.ceil(nTop) - 0.5, + nRoundedWidth, + nRoundedHeight + ); + } + } + + this._bIsPainted = true; + }; + + /** + * Make the image from Canvas if the browser supports Data URI. + */ + Drawing.prototype.makeImage = function () { + if (this._bIsPainted) { + _safeSetDataURI.call(this, _onMakeImage); + } + }; + + /** + * Return whether the QRCode is painted or not + * + * @return {Boolean} + */ + Drawing.prototype.isPainted = function () { + return this._bIsPainted; + }; + + /** + * Clear the QRCode + */ + Drawing.prototype.clear = function () { + this._oContext.clearRect(0, 0, this._elCanvas.width, this._elCanvas.height); + this._bIsPainted = false; + }; + + /** + * @private + * @param {Number} nNumber + */ + Drawing.prototype.round = function (nNumber) { + if (!nNumber) { + return nNumber; + } + + return Math.floor(nNumber * 1000) / 1000; + }; + + return Drawing; + })(); + + /** + * Get the type by string length + * + * @private + * @param {String} sText + * @param {Number} nCorrectLevel + * @return {Number} type + */ + function _getTypeNumber(sText, nCorrectLevel) { + var nType = 1; + var length = _getUTF8Length(sText); + + for (var i = 0, len = QRCodeLimitLength.length; i <= len; i++) { + var nLimit = 0; + + switch (nCorrectLevel) { + case QRErrorCorrectLevel.L : + nLimit = QRCodeLimitLength[i][0]; + break; + case QRErrorCorrectLevel.M : + nLimit = QRCodeLimitLength[i][1]; + break; + case QRErrorCorrectLevel.Q : + nLimit = QRCodeLimitLength[i][2]; + break; + case QRErrorCorrectLevel.H : + nLimit = QRCodeLimitLength[i][3]; + break; + } + + if (length <= nLimit) { + break; + } else { + nType++; + } + } + + if (nType > QRCodeLimitLength.length) { + throw new Error("Too long data"); + } + + return nType; + } + + function _getUTF8Length(sText) { + var replacedText = encodeURI(sText).toString().replace(/\%[0-9a-fA-F]{2}/g, 'a'); + return replacedText.length + (replacedText.length != sText ? 3 : 0); + } + + /** + * @class QRCode + * @constructor + * @example + * new QRCode(document.getElementById("test"), "http://jindo.dev.naver.com/collie"); + * + * @example + * var oQRCode = new QRCode("test", { + * text : "http://naver.com", + * width : 128, + * height : 128 + * }); + * + * oQRCode.clear(); // Clear the QRCode. + * oQRCode.makeCode("http://map.naver.com"); // Re-create the QRCode. + * + * @param {HTMLElement|String} el target element or 'id' attribute of element. + * @param {Object|String} vOption + * @param {String} vOption.text QRCode link data + * @param {Number} [vOption.width=256] + * @param {Number} [vOption.height=256] + * @param {String} [vOption.colorDark="#000000"] + * @param {String} [vOption.colorLight="#ffffff"] + * @param {QRCode.CorrectLevel} [vOption.correctLevel=QRCode.CorrectLevel.H] [L|M|Q|H] + */ + QRCode = function (el, vOption) { + this._htOption = { + width : 256, + height : 256, + typeNumber : 4, + colorDark : "#000000", + colorLight : "#ffffff", + correctLevel : QRErrorCorrectLevel.H + }; + + if (typeof vOption === 'string') { + vOption = { + text : vOption + }; + } + + // Overwrites options + if (vOption) { + for (var i in vOption) { + this._htOption[i] = vOption[i]; + } + } + + if (typeof el == "string") { + el = document.getElementById(el); + } + + if (this._htOption.useSVG) { + Drawing = svgDrawer; + } + + this._android = _getAndroid(); + this._el = el; + this._oQRCode = null; + this._oDrawing = new Drawing(this._el, this._htOption); + + if (this._htOption.text) { + this.makeCode(this._htOption.text); + } + }; + + /** + * Make the QRCode + * + * @param {String} sText link data + */ + QRCode.prototype.makeCode = function (sText) { + this._oQRCode = new QRCodeModel(_getTypeNumber(sText, this._htOption.correctLevel), this._htOption.correctLevel); + this._oQRCode.addData(sText); + this._oQRCode.make(); + this._el.title = ""; + this._oDrawing.draw(this._oQRCode); + this.makeImage(); + }; + + /** + * Make the Image from Canvas element + * - It occurs automatically + * - Android below 3 doesn't support Data-URI spec. + * + * @private + */ + QRCode.prototype.makeImage = function () { + if (typeof this._oDrawing.makeImage == "function" && (!this._android || this._android >= 3)) { + this._oDrawing.makeImage(); + } + }; + + /** + * Clear the QRCode + */ + QRCode.prototype.clear = function () { + this._oDrawing.clear(); + }; + + /** + * @name QRCode.CorrectLevel + */ + QRCode.CorrectLevel = QRErrorCorrectLevel; +})(); diff --git 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diff --git a/scripts/scripts_slam_pipeline/03_batch_slam.py b/scripts/scripts_slam_pipeline/03_batch_slam.py index b172893..5594db7 100644 --- a/scripts/scripts_slam_pipeline/03_batch_slam.py +++ b/scripts/scripts_slam_pipeline/03_batch_slam.py @@ -70,7 +70,7 @@ def runner(cmd, cwd, stdout_path, stderr_path, timeout, **kwargs): "-m", "--map_path", default=None, - help="ORB_SLAM3 *.osa map atlas for localization. Defaults to /mapping/map_atlas.osa", + help="ORB_SLAM3 *.osa map atlas for localization. Defaults to /mapping_*/map_atlas.osa", ) @click.option("-d", "--docker_image", default="orb_slam3") @click.option( @@ -117,7 +117,7 @@ def main( :param input_dir: Demos directory containing raw_video.mp4 paths. :param map_path: Path to the ORB-SLAM3 map atlas (*.osa) for localization. Defaults to - /mapping/map_atlas.osa. + /mapping_*/map_atlas.osa. :param docker_image: Name of the Docker image containing the ORB-SLAM3 binary. :param num_workers: Parallel Docker workers. Defaults to cpu_count // 2. :param max_lost_frames: Terminate SLAM if tracking is lost for this many consecutive frames. @@ -130,7 +130,10 @@ def main( logger.info("Found %d video dirs", len(input_video_dirs)) if map_path is None: - map_path = input_dir.joinpath("mapping", "map_atlas.osa") + mapping_dir = next(input_dir.glob("mapping_*"), None) + if mapping_dir is None: + raise click.ClickException(f"No mapping_* directory found in {input_dir}") + map_path = mapping_dir.joinpath("map_atlas.osa") else: map_path = pathlib.Path(map_path).resolve() if not map_path.is_file(): diff --git a/scripts/serve_timecode_sync.py b/scripts/serve_timecode_sync.py new file mode 100644 index 0000000..1edc9f5 --- /dev/null +++ b/scripts/serve_timecode_sync.py @@ -0,0 +1,49 @@ +"""Serve the timecode sync page locally over HTTP. + +:Usage: + uv run python scripts/serve_timecode_sync.py +""" + +import http.server +import logging +import socketserver +from functools import partial +from pathlib import Path + +import click + +DIRECTORY = Path(__file__).resolve().parent.parent / "assets" / "timecode_sync" + +logger = logging.getLogger(__name__) + + +@click.command(help="Serve the timecode sync page locally over HTTP.") +@click.option( + "--port", + type=int, + default=8000, + help="Port to serve on (default: 8000).", +) +def main(port): + logging.basicConfig(level=logging.INFO, format="%(levelname)s: %(message)s") + + if not (DIRECTORY / "index.html").is_file(): + raise click.ClickException(f"{DIRECTORY / 'index.html'} not found.") + + handler = partial(http.server.SimpleHTTPRequestHandler, directory=str(DIRECTORY)) + socketserver.TCPServer.allow_reuse_address = True + try: + httpd = socketserver.TCPServer(("127.0.0.1", port), handler) + except OSError as e: + raise click.ClickException(f"{e}. Try a different --port.") + with httpd: + logger.info("Serving %s at http://127.0.0.1:%d/index.html", DIRECTORY, port) + logger.info("Press Ctrl+C to stop.") + try: + httpd.serve_forever() + except KeyboardInterrupt: + logger.info("Shutting down.") + + +if __name__ == "__main__": + main() diff --git a/scripts/visualize_aruco_video.py b/scripts/visualize_aruco_video.py index 11feb3f..b4aea0d 100644 --- a/scripts/visualize_aruco_video.py +++ b/scripts/visualize_aruco_video.py @@ -36,7 +36,12 @@ # Length of the 3D pose axis arrows drawn on each tag, in metres. AXIS_LENGTH_M = 0.03 -TAG_LABELS = {0: "gripper finger left", 1: "gripper finger right"} +TAG_LABELS = { + 0: "gripper_0 finger left", + 1: "gripper_0 finger right", + 6: "gripper_1 finger left", + 7: "gripper_1 finger right", +} def _build_frame_lookup(detections: list) -> dict: