Discrete data capture routine

[pv33]

Create routine to capture data upon keypresses. Save imagery to file with incrementing file counter. Use with #42

• [ ] Keypress/Enter Key based. color image only.
• [ ] Keypress/Enter Key based. color + puzzle mask for easier post-processing.
• [ ] Keypress/Enter Key based. color + depth saved (to file or to topic??).
• [ ] Glove based with state machine to trigger capture. Build out from detector.
• [ ] Possibly just hand based via depth image. Anything above valid workspace is a "hand"

Hand in scene: change state. Hand leaves: trigger capture. change state.

[pv33]

keypress method is easy for RGB only capture. argument is prefix. run capture loop for realsense. run as loop until q is pressed or something to that effect. capture triggered by Enter or C or D (for color/depth) or B (for both??) maybe even capture image plus binary mask of puzzle pieces so that can be used after the fact. (enter P for puzzle mask? then saves image plus binary mask; run more code though.)

run glove detector. configure a glove present/gone state.

[pv33]

Started in on a package mary_perception for including these things. Need to work out the details ... baby steps.

[pv33]

Run files:

• [ ] gloveshots_color.py
• [ ] snapshots_registered.py
• [ ] snapshots_depth.py
• [ ] snapshots_color.py
• [ ] staticshots_registered.py
• [ ] staticshots_depth.py
• [ ] staticshots_color.py