def save_camera_data_to_files(device_id=0,
rgb: bool = True,
depth: bool = True,
ir: bool = False,
frames: int = 150,
outfile_pattern: str = "output"):
## start the service - also available as context manager
with pyrs.Service() as serv:
streams = []
rgb_writer, depth_writer, ir_writer = None, None, None
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
if rgb:
rgb_stream = ColorStream()
streams.append(rgb_stream)
rgb_writer = cv2.VideoWriter(f'{outfile_pattern}_rgb.mp4', fourcc,
30,
(rgb_stream.width, rgb_stream.height))
if depth:
depth_stream = DepthStream()
dac_stream = DACStream()
streams.append(depth_stream)
streams.append(dac_stream)
depth_writer = cv2.VideoWriter(
f'{outfile_pattern}_depth.mp4', fourcc, 30,
(depth_stream.width, depth_stream.height))
if ir:
ir_stream = InfraredStream()
streams.append(ir_stream)
ir_writer = cv2.VideoWriter(f'{outfile_pattern}_ir.mp4', fourcc,
30,
(ir_stream.width, ir_stream.height),
False)
with serv.Device(device_id=device_id, streams=streams) as cam:
for _ in range(frames):
cam.wait_for_frames()
if rgb_writer:
frame = cv2.cvtColor(cam.color, cv2.COLOR_RGB2BGR)
rgb_writer.write(frame)
if depth_writer:
dac = convert_z16_to_bgr(cam.dac)
depth_writer.write(dac)
if ir_writer:
ir_writer.write(cv2.GaussianBlur(cam.infrared, (5, 5), 0))
for writer in [rgb_writer, depth_writer, ir_writer]:
if writer:
writer.release()
cv2.destroyAllWindows()
def _initialize_device(
self,
device_id,
color_frame_size,
color_fps,
depth_frame_size,
depth_fps,
device_options=(),
):
devices = tuple(self.service.get_devices())
color_frame_size = tuple(color_frame_size)
depth_frame_size = tuple(depth_frame_size)
self.streams = [ColorStream(), DepthStream(), PointStream()]
self.last_color_frame_ts = None
self.last_depth_frame_ts = None
self._recent_frame = None
self._recent_depth_frame = None
if not devices:
if not self._needs_restart:
logger.error(
"Camera failed to initialize. No cameras connected.")
self.device = None
self.update_menu()
return
if self.device is not None:
self.device.stop() # only call Device.stop() if its context
if device_id >= len(devices):
logger.error(
"Camera with id {} not found. Initializing default camera.".
format(device_id))
device_id = 0
# use default streams to filter modes by rs_stream and rs_format
self._available_modes = self._enumerate_formats(device_id)
# make sure that given frame sizes and rates are available
color_modes = self._available_modes[rs_stream.RS_STREAM_COLOR]
if color_frame_size not in color_modes:
# automatically select highest resolution
color_frame_size = sorted(color_modes.keys(), reverse=True)[0]
if color_fps not in color_modes[color_frame_size]:
# automatically select highest frame rate
color_fps = color_modes[color_frame_size][0]
depth_modes = self._available_modes[rs_stream.RS_STREAM_DEPTH]
if self.align_streams:
depth_frame_size = color_frame_size
else:
if depth_frame_size not in depth_modes:
# automatically select highest resolution
depth_frame_size = sorted(depth_modes.keys(), reverse=True)[0]
if depth_fps not in depth_modes[depth_frame_size]:
# automatically select highest frame rate
depth_fps = depth_modes[depth_frame_size][0]
colorstream = ColorStream(
width=color_frame_size[0],
height=color_frame_size[1],
fps=color_fps,
color_format="yuv",
preset=self.stream_preset,
)
depthstream = DepthStream(
width=depth_frame_size[0],
height=depth_frame_size[1],
fps=depth_fps,
preset=self.stream_preset,
)
pointstream = PointStream(width=depth_frame_size[0],
height=depth_frame_size[1],
fps=depth_fps)
self.streams = [colorstream, depthstream, pointstream]
if self.align_streams:
dacstream = DACStream(width=depth_frame_size[0],
height=depth_frame_size[1],
fps=depth_fps)
dacstream.name = "depth" # rename data accessor
self.streams.append(dacstream)
# update with correctly initialized streams
# always initiliazes color + depth, adds rectified/aligned versions as necessary
self.device = self.service.Device(device_id, streams=self.streams)
self.controls = Realsense_Controls(self.device, device_options)
self._intrinsics = load_intrinsics(self.g_pool.user_dir, self.name,
self.frame_size)
self.update_menu()
self._needs_restart = False
def _initialize_device(
self,
device_id,
color_frame_size,
color_fps,
depth_frame_size,
depth_fps,
device_options=(),
):
devices = tuple(self.service.get_devices())
color_frame_size = tuple(color_frame_size)
depth_frame_size = tuple(depth_frame_size)
self.streams = [ColorStream(), DepthStream(), PointStream()]
self.last_color_frame_ts = None
self.last_depth_frame_ts = None
self._recent_frame = None
self._recent_depth_frame = None
if not devices:
if not self._needs_restart:
logger.error("Camera failed to initialize. No cameras connected.")
self.device = None
self.update_menu()
return
if self.device is not None:
self.device.stop() # only call Device.stop() if its context
if device_id >= len(devices):
logger.error(
"Camera with id {} not found. Initializing default camera.".format(
device_id
)
)
device_id = 0
# use default streams to filter modes by rs_stream and rs_format
self._available_modes = self._enumerate_formats(device_id)
# make sure that given frame sizes and rates are available
color_modes = self._available_modes[rs_stream.RS_STREAM_COLOR]
if color_frame_size not in color_modes:
# automatically select highest resolution
color_frame_size = sorted(color_modes.keys(), reverse=True)[0]
if color_fps not in color_modes[color_frame_size]:
# automatically select highest frame rate
color_fps = color_modes[color_frame_size][0]
depth_modes = self._available_modes[rs_stream.RS_STREAM_DEPTH]
if self.align_streams:
depth_frame_size = color_frame_size
else:
if depth_frame_size not in depth_modes:
# automatically select highest resolution
depth_frame_size = sorted(depth_modes.keys(), reverse=True)[0]
if depth_fps not in depth_modes[depth_frame_size]:
# automatically select highest frame rate
depth_fps = depth_modes[depth_frame_size][0]
colorstream = ColorStream(
width=color_frame_size[0],
height=color_frame_size[1],
fps=color_fps,
color_format="yuv",
preset=self.stream_preset,
)
depthstream = DepthStream(
width=depth_frame_size[0],
height=depth_frame_size[1],
fps=depth_fps,
preset=self.stream_preset,
)
pointstream = PointStream(
width=depth_frame_size[0], height=depth_frame_size[1], fps=depth_fps
)
self.streams = [colorstream, depthstream, pointstream]
if self.align_streams:
dacstream = DACStream(
width=depth_frame_size[0], height=depth_frame_size[1], fps=depth_fps
)
dacstream.name = "depth" # rename data accessor
self.streams.append(dacstream)
# update with correctly initialized streams
# always initiliazes color + depth, adds rectified/aligned versions as necessary
self.device = self.service.Device(device_id, streams=self.streams)
self.controls = Realsense_Controls(self.device, device_options)
self._intrinsics = load_intrinsics(
self.g_pool.user_dir, self.name, self.frame_size
)
self.update_menu()
self._needs_restart = False