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How to use enable_devices method in lisa

Best Python code snippet using lisa_python

tracking.py

Source:tracking.py

...8from dedect_markers import find_markers_all_cams, cluster_DBSCAN, cluster_KMEANS, calculate_center_3D9from visualise import visualise_marker101112def enable_devices():1314	# Constants for different camerastreams15	resolution_depth_width = 1280  # pixels16	resolution_depth_height = 720  # pixels17	depth_frame_rate = 30  # fps1819	resolution_color_width = 1280  # pixels20	resolution_color_height = 720  # pixels21	color_frame_rate = 30  # fps2223	try:24		# enable streams25		rs_config = rs.config()26		rs_config.enable_stream(rs.stream.depth, resolution_depth_width, resolution_depth_height, rs.format.z16,27								depth_frame_rate)28		rs_config.enable_stream(rs.stream.infrared, 1, resolution_depth_width, resolution_depth_height,29								rs.format.y8, depth_frame_rate)30		rs_config.enable_stream(rs.stream.color, resolution_color_width, resolution_color_height, rs.format.bgr8,31								color_frame_rate)3233		# Use the device manager class to enable the devices and get the frames34		device_manager = DeviceManager(rs.context(), rs_config)35		device_manager.enable_all_devices()36		device_manager.enable_emitter(True)3738		assert (len(device_manager._available_devices) > 0)3940		return device_manager4142	finally:43		device_manager.disable_streams()44454647def get_intrinsics(device_manager):48	frames = device_manager.poll_frames()49	device_intrinsics = device_manager.get_device_intrinsics(frames)50	return device_intrinsics51525354def track_markers(device_manager, device_transformation):55	#Speichern der Bewegungsvectoren des Markerpunktes (in Meter)56	movement_vectors = np.zeros(3)57	center_world = np.zeros(3)58	center_image = np.zeros(3)59	#pause zwischen Trackingframes 30 = 1sec60	frames_between_tracking = 561	#Richtige Konfig zum erkennen der Marker laden62	device_manager.load_settings_json('presets/preset_settings_marker_detection.json')63	devices_intrinsics = get_intrinsics(device_manager)6465	#Extrensics wird fÃ¼r darstellung benutzt66	frame = device_manager.poll_frames()67	devices_extrinsics = device_manager.get_depth_to_color_extrinsics(frame)6869	# Tracking i mal durchfÃ¼hren ; alternativ while True70	#for i in range(0,20):71	while True:72		frames = device_manager.poll_frames()73		markers_found, points_image, points_world  = find_markers_all_cams(frames, devices_intrinsics, device_transformation)74		#marker wurde nicht gefunden75		if not (markers_found):76			print("Marker nicht identifiziert")77			print("erneuter Versuch")78			#i = i-179		else:80			oldcenter = center_world81			center_world = calculate_center_3D(points_world)82			center_image = calculate_center_3D(points_image)83			movement_world = center_world - oldcenter84			movement_vectors = np.vstack((movement_vectors, movement_world))85			print("Markermittelpunkt:")86			print(center_world)8788			visualise_marker(frames, points_image, center_image, devices_extrinsics)89		#"sleeping"6990		for f in range(frames_between_tracking):91			device_manager.poll_frames()9293	return movement_vectors94959697if __name__ == "__main__":9899	device_manager = enable_devices()100101	device_transformation = calibrate_all_devices(device_manager)102	print("Kalibrierung abgeschlossen")103	#save_calibration(device_transformation)104105	#device_transformation = load_calibration()106	#print("Kalibrierung aus Datei geladen")107108	#track_markers(device_manager,device_transformation)109
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waffrender.py

Source:waffrender.py

...18    waffcycles.preferences.get_devices()19    print(device['name'])20    device['use'] = 121    print(' - Enabled!')22def enable_devices(try_nvidia, device_type):23    waffcycles = bpy.context.preferences.addons['cycles']24    waffcycles.preferences.get_devices()25    # find and maybe filter devices for optix/cuda26    nvidia_dev_found = False27    if try_nvidia:28        for device in waffcycles.preferences.get_devices_for_type(device_type):29            if 'NVIDIA' in device['name']:30                enable_device(device)31                nvidia_dev_found = True32            elif 'Tesla' in device['name']:33                enable_device(device)34                nvidia_dev_found = True35    36    if nvidia_dev_found:37        bpy.context.scene.cycles.device = "GPU"38    # no nvidia devices found39    if not try_nvidia or not nvidia_dev_found:40        print("")41        print("No nvidia devices found or requested, enable everything else.")42        for device in waffcycles.preferences.devices:43            device['use'] = 144            print(device['name'], " - Enabled!" if device['use'] else " - Disabled!" )45def list_cameras():46    return [cam for cam in bpy.data.objects if cam.type == 'CAMERA']47def set_cam(new_camera):48    bpy.context.scene.camera = bpy.data.objects[new_camera]49def main():50    #do things51    noargs = False52    53    argv = sys.argv54    try:55        argv = argv[argv.index('--') + 1:]56    except (ValueError):57        noargs = True58    parser = argparse.ArgumentParser(description="Set options on waffrender")59    parser.add_argument('-c', '--cam', action="store", type=str, default="", dest='cam_new_name')60    parser.add_argument('-n', '--no-accel', action='store_true', default=False, dest='no_accel')61    parser.add_argument('-l', '--list', action='store_true', default=False, dest='list_accel')62    args = parser.parse_args(argv)63    if args.list_accel:64        for dev in list_devices():65            print( dev['name'] )66    67    #if we want accel:68    if not args.no_accel:69       optix_on = set_comp_device('OPTIX')70       #optix_on = False71       if optix_on:72            print("Optix Enabled!")73       if not optix_on:74           cuda_on = set_comp_device('CUDA')75           if cuda_on:76               print("CUDA Enabled!")77       # if neither, we got no special devices.78       if optix_on:79           enable_devices(True, "OPTIX")80       elif cuda_on:81           enable_devices(True, "CUDA")82       else:83           enable_devices(False)84    else:85        print("No acceleration requested, using default devices")86    # if set camera87    cam_name=args.cam_new_name88    if cam_name != "":89        blend_cams = list_cameras()90        if cam_name in [cam.name for cam in blend_cams]:91            print("New camera %s found and set!" % cam_name)92            set_cam(cam_name)93        else:94            print("Camera %s not found, using default cam from file" % cam_name)95if __name__ == '__main__':...

utils.py

Source:utils.py

1from math import radians2from config import INITIAL_VELOCITY, DISTANCE_THRESHOLD, MAX_ROTATION_SPEED3def enable_devices(devices, timestep):4    for device in devices:5        device.enable(timestep)6def initialize_devices(devices, motors, timestep):7    enable_devices(devices, timestep)8    # Disable motor PID control mode.9    for motor in motors:10        motor.setPosition(float('inf'))11        motor.setVelocity(INITIAL_VELOCITY)12def get_distance_sensors(robot):13    return {f"ps{i}": robot.getDevice(f"ps{i}") for i in range(8)}14def get_motors(robot):15    return (16        robot.getDevice("left wheel motor"),17        robot.getDevice("right wheel motor")18    )19def get_sensors_values(sensors):20    return {21        name: device.getValue()...

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