说明：
- 该代码请放在全英文的路径下使用，已经在Ubuntu系统下测试可用；
- 若在windows下使用，可能会由于路径原因出问题，还没进行测试；
- 该脚本通过调用D455深度相机的RGB摄像头进行录像；
- 运行后，按q键退出； 按k键可暂停、继续录像。
# for D455 get RGB Video Capture
# press Q to quit
import pyrealsense2 as rs
import numpy as np
from pathlib import Path
import cv2, re, glob
def increment_path(path, exist_ok=False, sep='', mkdir=False):
# Increment file or directory path, i.e. save_dir/RGB_video/video, video2, video3, ... etc.
path = Path(path) # os-agnostic
n = ''
if path.exists() and not exist_ok:
suffix = path.suffix
path = path.with_suffix('')
dirs = glob.glob(f"{
path}{
sep}*") # similar paths
matches = [re.search(rf"%s{
sep}(\d+)" % path.stem, d) for d in dirs]
i = [int(m.groups()[0]) for m in matches if m] # indices
n = max(i) + 1 if i else 2 # increment number
path = Path(f"{
path}{
sep}{
n}{
suffix}") # update path
dir = path if path.suffix == '' else path.parent # directory
if not dir.exists() and mkdir:
dir.mkdir(parents=True, exist_ok=True) # make directory
return path, str(n)
def save_RGBvideo_D455(save_size=(640, 480), save_fps=30, save_mp4=False, dcam_size=(640,480), dcam_fps=30):
#====create save_path =======#
video_dirname, order_name = 'save_dir/RGB_video', 'video'
exist_ok = False
save_dir, order_num = increment_path(Path(video_dirname) / order_name, exist_ok=exist_ok)
save_dir = str(save_dir)
order_num = int(order_num) if order_num.isnumeric() else ''
Path(save_dir).mkdir(parents=True, exist_ok=True)
#===========================#
#===== configure for video format, flv, MP4, etc...=======#
if save_mp4: # save_format : mp4
fourcc, save_file = cv2.VideoWriter_fourcc('M', 'J', 'P', 'G'), Path(save_dir) / f'video{
order_num}.mp4'
else:
fourcc, save_file = cv2.VideoWriter_fourcc('F', 'L', 'V', '1'), Path(save_dir) / f'video{
order_num}.flv'
save_size, save_fps, = save_size, save_fps
Writer = cv2.VideoWriter(str(save_file), fourcc, save_fps, save_size)
#=========================================================#
#===========Configure color streams for D455 realsense camera======#
pipeline = rs.pipeline()
config = rs.config()
# Get device product line for setting a supporting resolution
pipeline_wrapper = rs.pipeline_wrapper(pipeline)
pipeline_profile = config.resolve(pipeline_wrapper)
device = pipeline_profile.get_device()
device_product_line = str(device.get_info(rs.camera_info.product_line))
found_rgb = False
for s in device.sensors:
if s.get_info(rs.camera_info.name) == 'RGB Camera':
found_rgb = True
break
if not found_rgb:
print("The demo requires Depth camera with Color sensor")
exit(0)
if device_product_line == 'L500':
config.enable_stream(rs.stream.color, 960, 540, rs.format.bgr8, 30)
else:
config.enable_stream(rs.stream.color, dcam_size[0], dcam_size[1], rs.format.bgr8, dcam_fps)
#==================================================#
# Start streaming
pipeline.start(config)
print('Depth Camera init OK!!!')
writer_flag = True
try:
print('Start processing, press k to pause or continue')
while True:
# Wait for a coherent pair of frames: depth and color
frames = pipeline.wait_for_frames()
color_frame = frames.get_color_frame()
if not color_frame:
continue
# convert to numpy array
color_image = np.asanyarray(color_frame.get_data())
if writer_flag:
Writer.write(color_image)
else:
paused_warning = 'Capture is paused, k to continue.....'
cv2.putText(color_image, paused_warning, (int(color_image.shape[0]/10), int(color_image.shape[1]/12)),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 3, cv2.LINE_AA)
print(paused_warning)
#===show RGB image=====#
cv2.namedWindow('RGB_video', cv2.WINDOW_NORMAL)
cv2.imshow('RGB_video', color_image)
# ====== input waiting====== #
k = cv2.waitKey(1)
if k == ord('q'): # input 'q' , close the windows,exit
cv2.destroyAllWindows()
break
# pause capturing , and continue
if k == ord('k') and writer_flag is True:
writer_flag = False
print('Now is pause')
elif k == ord('k') and writer_flag is False:
writer_flag = True
print('continue capturing')
finally:
# Stop streaming
print('the video save to :', save_file)
Writer.release()
pipeline.stop()
print('pipeline Stop, Writer release success.')
if __name__ == '__main__':
# video save parameters, save_format: mp4 or flv
save_size, save_fps, save_mp4 = (640, 480), 30, True
# config Depth camera parameters
# RBGsize recommand: (1280, 800), (1280,720), (848, 480), (640, 480), (640, 360), (480,270), (424, 240)
# for 32x downsampling --- (1280, 800), (640, 480)
# D455fps recommand: 30, 15, 10, 5
D455_RGBsize, D455_fps = (640, 480), 30 # recommand same as save_size, save_fps
save_RGBvideo_D455(save_size=save_size, save_fps=save_fps, save_mp4=save_mp4,
dcam_size=D455_RGBsize, dcam_fps=D455_fps)