59 lines
1.5 KiB
Python
59 lines
1.5 KiB
Python
import os
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import time
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import pyrealsense2 as rs
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import numpy as np
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import cv2
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TARGET_SERIAL = "243122075614"
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ctx = rs.context()
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devices = ctx.query_devices()
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if len(devices) == 0:
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raise RuntimeError("未检测到任何 RealSense 相机，请检查连接")
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selected_device = None
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for dev in devices:
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if dev.get_info(rs.camera_info.serial_number) == TARGET_SERIAL:
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selected_device = dev
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break
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if selected_device is None:
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raise RuntimeError(f"未找到序列号为 {TARGET_SERIAL} 的 RealSense 相机")
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pipeline = rs.pipeline()
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config = rs.config()
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config.enable_device(TARGET_SERIAL)
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config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
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config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
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pipeline.start(config)
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align = rs.align(rs.stream.color)
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# =============================
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# 3. 数据采集流程
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# =============================
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# 捕获对齐后的彩色图像
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for i in range(10):
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try:
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frames = pipeline.wait_for_frames(timeout_ms=5000)
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if frames:
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break
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except RuntimeError:
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print("⚠️ 读取帧超时，重试中...")
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time.sleep(1)
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frames = pipeline.wait_for_frames()
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aligned_frames = align.process(frames)
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color_frame = aligned_frames.get_color_frame()
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if not color_frame:
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print("未获取彩色图像，跳过")
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exit(-1)
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color_image = np.asanyarray(color_frame.get_data())
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img_path = f"color_image.png"
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cv2.imwrite(img_path, color_image)
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print(f"保存图像 {img_path}")
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# 停止RealSense
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pipeline.stop()
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print("\n=== 数据采集完成 ===")
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