Hi, I’m trying to record depth and color stream form Astra model with this code. It is basically working but there is an issue, after a successfull recording, the next one will not record the depth stream, without any error or exception unless you unplug and reconnect the usb cable. This lead me to think that the final instructions of the method write_files are not working correctly and somehow something is not closed properly (streams, recorder, device… ). I tried different combinations of close, stop without any luck. Behavior is the same both on Ubuntu 16.04 and Win10, using the latest OpenNI2 package provided by Orbbec. Camera is Astra. Any help?
from datetime import datetime
import time
import argparse
import sys
import configparser
from openni import openni2
from openni import _openni2 as c_api
width = 640
height = 480
fps = 30
mirroring = True
compression = False
lenght = 300 #5 minutes
def write_files(dev):
depth_stream = dev.create_depth_stream()
color_stream = dev.create_color_stream()
depth_stream.set_video_mode(c_api.OniVideoMode(pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_DEPTH_1_MM,
resolutionX=width,
resolutionY=height,
fps=fps))
color_stream.set_video_mode(c_api.OniVideoMode(pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_RGB888,
resolutionX=width,
resolutionY=height,
fps=fps))
depth_stream.start()
color_stream.start()
dev.set_image_registration_mode(True)
dev.set_depth_color_sync_enabled(True)
depth_stream.set_mirroring_enabled(mirroring)
color_stream.set_mirroring_enabled(mirroring)
actual_date = datetime.now().strftime("%Y%m%d-%H%M%S%f")[:-3]
rec = openni2.Recorder((actual_date + ".oni").encode('utf-8'))
rec.attach(depth_stream, compression)
rec.attach(color_stream, compression)
rec.start()
print("Recording started.. press ctrl+C to stop or wait " + str(lenght) + " seconds..")
start=time.time()
try:
while True:
if (time.time()-start)>lenght:
break
except KeyboardInterrupt:
pass
rec.stop()
depth_stream.close()
color_stream.close()
dev.close()
rec.close()
def readSettings():
global width,height,fps,mirroring,compression,lenght
config = configparser.ConfigParser()
config.read('settings.ini')
width = int(config['camera']['width'])
height = int(config['camera']['height'])
fps = int(config['camera']['fps'])
mirroring = config.getboolean('camera','mirroring')
compression = config.getboolean('camera','compression')
lenght = int(config['camera']['lenght'])
def main():
readSettings()
try:
if sys.platform == "win32":
libpath = "lib/Windows"
else:
libpath = "lib/Linux"
openni2.initialize(libpath)
print("Device initialized")
except:
print("Device not initialized")
return
try:
dev = openni2.Device.open_any()
write_files(dev)
except:
print("Unable to open the device")
try:
openni2.unload()
print("Device unloaded")
except:
print("Device not unloaded")
if __name__ == '__main__':
main()