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86 lines
2.9 KiB
86 lines
2.9 KiB
## License: Apache 2.0. See LICENSE file in root directory.
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## Copyright(c) 2019 Intel Corporation. All Rights Reserved.
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#####################################################
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## Frame Queues ##
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#####################################################
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# First import the library
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import pyrealsense2 as rs
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import time
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# Implement two "processing" functions, each of which
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# occassionally lags and takes longer to process a frame.
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def slow_processing(frame):
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n = frame.get_frame_number()
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if n % 20 == 0:
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time.sleep(1/4)
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print(n)
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def slower_processing(frame):
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n = frame.get_frame_number()
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if n % 20 == 0:
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time.sleep(1)
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print(n)
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try:
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# Create a pipeline
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pipeline = rs.pipeline()
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# Create a config and configure the pipeline to stream
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# different resolutions of color and depth streams
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config = rs.config()
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config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
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# Start streaming to the slow processing function.
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# This stream will lag, causing the occasional frame drop.
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print("Slow callback")
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pipeline.start(config)
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start = time.time()
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while time.time() - start < 5:
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frames = pipeline.wait_for_frames()
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slow_processing(frames)
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pipeline.stop()
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# Start streaming to the the slow processing function by way of a frame queue.
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# This stream will occasionally hiccup, but the frame_queue will prevent frame loss.
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print("Slow callback + queue")
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queue = rs.frame_queue(50)
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pipeline.start(config, queue)
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start = time.time()
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while time.time() - start < 5:
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frames = queue.wait_for_frame()
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slow_processing(frames)
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pipeline.stop()
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# Start streaming to the the slower processing function by way of a frame queue.
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# This stream will drop frames because the delays are long enough that the backed up
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# frames use the entire internal frame pool preventing the SDK from creating more frames.
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print("Slower callback + queue")
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queue = rs.frame_queue(50)
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pipeline.start(config, queue)
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start = time.time()
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while time.time() - start < 5:
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frames = queue.wait_for_frame()
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slower_processing(frames)
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pipeline.stop()
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# Start streaming to the slower processing function by way of a keeping frame queue.
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# This stream will no longer drop frames because the frame queue tells the SDK
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# to remove the frames it holds from the internal frame queue, allowing the SDK to
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# allocate space for and create more frames .
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print("Slower callback + keeping queue")
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queue = rs.frame_queue(50, keep_frames=True)
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pipeline.start(config, queue)
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start = time.time()
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while time.time() - start < 5:
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frames = queue.wait_for_frame()
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slower_processing(frames)
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pipeline.stop()
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except Exception as e:
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print(e)
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except:
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print("A different Error")
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else:
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print("Done") |