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AadityavoruAadityavoru
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fixed testserver for zed camera to work
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+67
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‎mapping/testserver.py‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -359,8 +359,10 @@ def fill_queue_from_socket(self):
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depth_frame = cv2.imdecode(np.frombuffer(depth_image_data, dtype=np.uint8), cv2.IMREAD_UNCHANGED)
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print(depth_frame.shape)
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print(depth_frame[:,0:20])
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if depth_frame.dtype != np.float32:
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depth_frame = depth_frame.astype(np.float32) / 1000.0
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# if depth_frame.dtype != np.float32:
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# depth_frame = depth_frame.astype(np.float32) / 1000.0
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# depth_frame = cv2.imdecode(np.frombuffer(depth_image_data, dtype=np.uint8), cv2.IMREAD_UNCHANGED)
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depth_frame = depth_frame.astype(np.float32)
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# depth_o3d = o3d.geometry.Image(depth_frame)
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# color_o3d = o3d.geometry.Image(cv2.cvtColor(color_frame, cv2.COLOR_BGR2RGB))

‎python_helpers/config-maker/perception_config.log‎

Lines changed: 63 additions & 0 deletions
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@@ -31,3 +31,66 @@
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2025-05-03 19:33:40,955 - perception_config - INFO - Kimera-VIO started with dataset path: /home/motion/Euroc/V1_01_easy/
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2025-05-03 19:33:40,956 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:33:40] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 19:33:40,958 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:33:40] "GET / HTTP/1.1" 200 -
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2025-05-03 19:36:26,499 - perception_config - INFO - Mapping server started with realsense.yaml, address=10.195.4.252, port=5003
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2025-05-03 19:36:26,500 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:36:26] "POST /run_mapping_server HTTP/1.1" 302 -
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2025-05-03 19:36:26,502 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:36:26] "GET / HTTP/1.1" 200 -
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2025-05-03 19:36:59,354 - perception_config - INFO - Stella-VSLAM started with realsense.yaml
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2025-05-03 19:36:59,355 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:36:59] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 19:36:59,356 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:36:59] "GET / HTTP/1.1" 200 -
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2025-05-03 19:37:31,941 - perception_config - INFO - Mapping server started with realsense.yaml, address=10.195.4.252, port=5003
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2025-05-03 19:37:31,942 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:37:31] "POST /run_mapping_server HTTP/1.1" 302 -
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2025-05-03 19:37:31,943 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:37:31] "GET / HTTP/1.1" 200 -
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2025-05-03 19:37:45,765 - perception_config - INFO - Stella-VSLAM started with realsense.yaml
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2025-05-03 19:37:45,765 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:37:45] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 19:37:45,767 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:37:45] "GET / HTTP/1.1" 200 -
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2025-05-03 19:43:59,829 - perception_config - INFO - Mapping server started with realsense.yaml, address=10.195.4.252, port=5003
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2025-05-03 19:43:59,830 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:43:59] "POST /run_mapping_server HTTP/1.1" 302 -
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2025-05-03 19:43:59,833 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:43:59] "GET / HTTP/1.1" 200 -
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2025-05-03 19:44:42,564 - perception_config - INFO - Mapping server started with realsense.yaml, address=10.195.4.252, port=5003
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2025-05-03 19:44:42,565 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:44:42] "POST /run_mapping_server HTTP/1.1" 302 -
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2025-05-03 19:44:42,571 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:44:42] "GET / HTTP/1.1" 200 -
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2025-05-03 19:44:53,302 - perception_config - INFO - Stella-VSLAM started with realsense.yaml
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2025-05-03 19:44:53,303 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:44:53] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 19:44:53,306 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:44:53] "GET / HTTP/1.1" 200 -
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2025-05-03 19:45:56,442 - perception_config - INFO - Mapping server started with realsense.yaml, address=10.195.4.252, port=5003
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2025-05-03 19:45:56,444 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:45:56] "POST /run_mapping_server HTTP/1.1" 302 -
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2025-05-03 19:45:56,448 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:45:56] "GET / HTTP/1.1" 200 -
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2025-05-03 19:46:14,470 - perception_config - INFO - Mapping server started with realsense.yaml, address=10.195.4.252, port=5003
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2025-05-03 19:46:14,471 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:46:14] "POST /run_mapping_server HTTP/1.1" 302 -
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2025-05-03 19:46:14,474 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:46:14] "GET / HTTP/1.1" 200 -
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2025-05-03 19:46:28,141 - perception_config - INFO - Stella-VSLAM started with realsense.yaml
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2025-05-03 19:46:28,143 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:46:28] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 19:46:28,146 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:46:28] "GET / HTTP/1.1" 200 -
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2025-05-03 19:51:25,504 - perception_config - INFO - Mapping server started with realsense.yaml, address=10.195.4.252, port=5003
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2025-05-03 19:51:25,505 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:51:25] "POST /run_mapping_server HTTP/1.1" 302 -
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2025-05-03 19:51:25,509 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:51:25] "GET / HTTP/1.1" 200 -
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2025-05-03 19:51:40,451 - perception_config - INFO - Stella-VSLAM started with realsense.yaml
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2025-05-03 19:51:40,453 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:51:40] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 19:51:40,456 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:51:40] "GET / HTTP/1.1" 200 -
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2025-05-03 19:56:02,092 - perception_config - INFO - Mapping server started with zed.yaml, address=10.195.4.252, port=5003
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2025-05-03 19:56:02,093 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:56:02] "POST /run_mapping_server HTTP/1.1" 302 -
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2025-05-03 19:56:02,097 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:56:02] "GET / HTTP/1.1" 200 -
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2025-05-03 19:56:12,353 - perception_config - INFO - Stella-VSLAM started with zed.yaml
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2025-05-03 19:56:12,354 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:56:12] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 19:56:12,357 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:56:12] "GET / HTTP/1.1" 200 -
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2025-05-03 19:57:00,737 - perception_config - INFO - Stella-VSLAM started with zed.yaml
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2025-05-03 19:57:00,738 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:57:00] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 19:57:00,741 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:57:00] "GET / HTTP/1.1" 200 -
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2025-05-03 19:59:47,750 - perception_config - INFO - Mapping server started with zed.yaml, address=10.195.4.252, port=5003
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2025-05-03 19:59:47,751 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:59:47] "POST /run_mapping_server HTTP/1.1" 302 -
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2025-05-03 19:59:47,754 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:59:47] "GET / HTTP/1.1" 200 -
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2025-05-03 19:59:56,628 - perception_config - INFO - Stella-VSLAM started with zed.yaml
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2025-05-03 19:59:56,629 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:59:56] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 19:59:56,632 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 19:59:56] "GET / HTTP/1.1" 200 -
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2025-05-03 20:00:00,678 - perception_config - INFO - Stella-VSLAM started with zed.yaml
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2025-05-03 20:00:00,679 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 20:00:00] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 20:00:00,683 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 20:00:00] "GET / HTTP/1.1" 200 -
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2025-05-03 20:01:31,591 - perception_config - INFO - Stella-VSLAM started with zed.yaml
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2025-05-03 20:01:31,592 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 20:01:31] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 20:01:31,594 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 20:01:31] "GET / HTTP/1.1" 200 -
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2025-05-03 20:02:16,719 - perception_config - INFO - Mapping server started with zed.yaml, address=10.195.4.252, port=5003
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2025-05-03 20:02:16,720 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 20:02:16] "POST /run_mapping_server HTTP/1.1" 302 -
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2025-05-03 20:02:16,724 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 20:02:16] "GET / HTTP/1.1" 200 -
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2025-05-03 20:02:29,659 - perception_config - INFO - Stella-VSLAM started with zed.yaml
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2025-05-03 20:02:29,661 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 20:02:29] "POST /run_slam HTTP/1.1" 302 -
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2025-05-03 20:02:29,664 - werkzeug - INFO - 10.195.4.252 - - [03/May/2025 20:02:29] "GET / HTTP/1.1" 200 -

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