python - 如何将英特尔实感图像保存在列表中 (pyrealsense2)

Question

我正在尝试将英特尔 Realsense D435i 相机的深度和彩色图像保存在 300 张图像的列表中。然后我将使用多处理将这 300 张图像的块保存到我的磁盘上。但是每次我尝试时，程序都会成功地在列表中附加 15 个图像，然后我得到这个错误：

    Frame didn't arrived within 5000

我确保我在 python 3.6 上安装了 64 位版本，并且当我不尝试将图像保存在列表中时，相机的流式传输非常好。真实感的查看器也很好用。我也尝试了不同的分辨率和帧速率，但它似乎也不起作用。有趣的是，如果我只保存彩色图像，我不会得到相同的错误，而是会在列表中一遍又一遍地得到相同的彩色图像。

if __name__ == '__main__':
pipeline = rs.pipeline()
config = rs.config()

config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
profile = pipeline.start(config)

depth_sensor = profile.get_device().first_depth_sensor()
depth_sensor.set_option(
    rs.option.visual_preset, 3
)  # Set high accuracy for depth sensor
depth_scale = depth_sensor.get_depth_scale()

align_to = rs.stream.color
align = rs.align(align_to)

#   Init variables
im_count = 0
image_chunk = []
image_chunk2 = []
# sentinel = True
try:
    while True:

        # Wait for a coherent pair of frames: depth and color
        frames = pipeline.wait_for_frames()
        aligned_frames = align.process(frames)
        aligned_depth_frame = aligned_frames.get_depth_frame()
        color_frame = aligned_frames.get_color_frame()


        if not aligned_depth_frame or not color_frame:
            print("problem here")
            raise RuntimeError("Could not acquire depth or color frames.")

        depth_image = np.asanyarray(aligned_depth_frame.get_data())
        color_image = np.asanyarray(color_frame.get_data())

        image_chunk.append(color_image)
        image_chunk2.append(depth_image)




except Exception as e:
    print(e)

finally:
    # Stop streaming
    pipeline.stop()

我只需要它来连续保存 300 张图像，仅此而已，所以我很困扰是什么导致了这个问题。

标签： pythonintelrealsense

Answer 1

按住帧会锁定内存，最终会达到限制，从而阻止获取更多图像。即使您正在创建图像，数据仍然来自帧。您需要在创建图像后克隆图像以释放到框架内存的链接。

depth_image = np.asanyarray(aligned_depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())

depth_image = depth_image.copy()
color_image = color_image.copy()

image_chunk.append(color_image)
image_chunk2.append(depth_image)

在此处阅读有关帧和内存管理的更多信息： https ://dev.intelrealsense.com/docs/frame-management

我创建了一个包装类来从框架集中提取以后无法重新创建的各种元素。它有点重，但显示了一些可能对其他人有帮助的常见操作：

colorizer = None
align_to_depth = None
align_to_color = None
pointcloud = rs.pointcloud()

class IntelD435ImagePacket:
    """
    Class that contains image and associated processing data.
    """

    @property
    def frame_id(self):
        return self._frame_id

    @property
    def timestamp(self):
        return self._timestamp

    @property
    def image_color(self):
        return self._image_color

    @property
    def image_depth(self):
        return self._image_depth

    @property
    def image_color_aligned(self):
        return self._image_color_aligned

    @property
    def image_depth_aligned(self):
        return self._image_depth_aligned

    @property
    def image_depth_colorized(self):
        if not self._image_depth_colorized:
            self._image_depth_colorized = cv2.applyColorMap(self.image_depth, cv2.COLORMAP_JET);
        return self._image_depth_colorized

    @property
    def intrinsics(self):
        return self._intrinsics

    @property
    def pointcloud(self):
        return self._pointcloud

    @property
    def pointcloud_texture(self):
        return self._pointcloud_texture

    def _rs_intrinsics_to_opencv_matrix(self, rs_intrinsics):
        fx = rs_intrinsics.fx
        fy = rs_intrinsics.fy
        cx = rs_intrinsics.ppx
        cy = rs_intrinsics.ppy
        s = 0  # skew
        return np.array([fx, s, cx,
                         0, fy, cy,
                         0, 0, 1]).reshape(3, 3)

    def __init__(self, frame_set, frame_id=None, timestamp=None, *args, **kwargs):
        global colorizer
        if not colorizer:
            colorizer = rs.colorizer()
            colorizer.set_option(rs.option.color_scheme, 0)

        global align_to_depth
        if not align_to_depth:
            align_to_depth = rs.align(rs.stream.depth)

        global align_to_color
        if not align_to_color:
            align_to_color = rs.align(rs.stream.color)

        global pointcloud
        if not pointcloud:
             pointcloud = rs.pointcloud()

        # Get intrinsics
        profile = frame_set.get_profile()
        video_stream_profile = profile.as_video_stream_profile()
        rs_intrinsics = video_stream_profile.get_intrinsics()
        self._intrinsics = self._rs_intrinsics_to_opencv_matrix(rs_intrinsics)

        # Get pointcloud
        depth_frame = frame_set.get_depth_frame()
        color_frame = frame_set.get_color_frame()
        pointcloud.map_to(color_frame)
        points = pointcloud.calculate(depth_frame)
        vtx = np.asanyarray(points.get_vertices())
        points_arr = vtx.view(np.float32).reshape(vtx.shape + (-1,)).copy()
        self._pointcloud = points_arr

        # Get pointcloud texture mapping
        tex = np.asanyarray(points.get_texture_coordinates())
        color_map_arr = tex.view(np.float32).reshape(tex.shape + (-1,)).copy()
        self._pointcloud_texture = color_map_arr

        # Extract color image
        color_frame = frame_set.get_color_frame()
        self._image_color = np.asanyarray(color_frame.get_data()).copy()

        # Extract depth image
        depth_frame = frame_set.get_depth_frame()
        self._image_depth = np.asanyarray(depth_frame.get_data()).copy()

        # Align the color frame to depth frame and extract color image
        color_frame_aligned = align_to_depth.process(frame_set).get_color_frame()
        self._image_color_aligned = np.asanyarray(color_frame_aligned.get_data()).copy()

        # Align the depth frame to color frame and extract depth image
        depth_frame_aligned = align_to_color.process(frame_set).get_depth_frame()
        self._image_depth_aligned = np.asanyarray(depth_frame_aligned.get_data()).copy()

        self._image_depth_colorized = None
        if frame_id:
            self._frame_id = frame_id
        else:
            self._frame_id = frame_set.frame_number
        if timestamp:
            self._timestamp = timestamp
        else:
            self._timestamp = frame_set.timestamp
        self.__dict__.update(kwargs)