Here's my code.
I run it on Jupyter Notebook. After running the code, you can see the RGB stream, press 'R' will start recording, and the stream will freeze, and press 'Q' will store the video.
**********************
import pyrealsense2 as rs
import numpy as np
import cv2
import datetime as dt
import threading as th
import multiprocessing as mp
import time
import os
class RGBRecordingClass(th.Thread):
def __init__(self, out, queue):
super(RGBRecordingClass, self).__init__()
self.stop_flag = th.Event()
self.stop_flag.set()
self.out = out
self.queue = queue
def run(self):
while self.stop_flag.isSet():
if not self.queue.empty():
self.out.write(self.queue.get())
print('RGB Thread Exitted')
def stop(self):
self.stop_flag.clear()
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
pipeline.start(config)
directory_path = '0429'
if not os.path.exists(directory_path):
os.mkdir(directory_path)
rgb_queue = mp.Queue()
frame_count=0
start_record = False
rgb_video_name = directory_path+'/rgb.avi'
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter(rgb_video_name, fourcc, 30, (640, 480))
rgb_thd = RGBRecordingClass(out, rgb_queue)
rgb_thd.start()
try:
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:
print('not ready')
# Convert images to numpy arrays
color_image = np.asanyarray(color_frame.get_data())
if start_record:
rgb_queue.put(color_image)
frame_count+=1
# Show images
if not start_record:
cv2.imshow('frame', color_image)
if cv2.waitKey(10) & 0xFF == ord('r'):
start_record = True
print('start recording...')
print(str(dt.datetime.now()))
if cv2.waitKey(10) & 0xFF == ord('q'):
break
finally:
# Stop streaming
print('end')
print('file saved')
print(frame_count)
print(str(dt.datetime.now()))
cv2.destroyAllWindows()
out.release()
pipeline.stop()
rgb_thd.stop()
