RealSense learning/turtorial/sharing blog - Chapter Two: More Device Adjustments

So, after the hello world, more controls over the device.

So the pipeline is basically start/stop, and wait_for_frames

And the function of pipeline_profile I haven't know yet

in this part I will put in the controls before wait_for_frames,

including record file, read file, and others

First, complete the configuration:

Rs.config

enable_stream	Define the stream type and also width/height...
enable_all_streams	Turn on all streams at once
enable_device	Input “serial”
enable_device_from_file	(“filename”,True/False) for repeat_playback or not, either once to the end, or keep looping
enable_record_to_file	(“filename.bag”)
disable_stream	(“stream”,”index”)
disable_all_streams
resolve
can_resolve

the enable stream is mentions before,

config.enable_stream(rs.stream.depth, 640, 360, rs.format.z16, 30)

config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)

The options can be found in the Intel Realsense Viewer, color,depth,infrared, resolution, mode, fps.

and the  rest is more related when multiple devices were used
config.enable_record_to_file(file_name)
config.enable_from_device(filename)

these are when recording or reading

enable from device have the option True/False

allow replay or just loop once through all the frame and end

If False, it will be the Runtimeerror of "no frames arrived in 5000"

thats why I had the except in the try loop

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device = profile.get_device()

depth_sensor = device.first_depth_sensor()

depth_sensor.set_option(rs.option.visual_preset, 4)

dev_range = depth_sensor.get_option_range(rs.option.visual_preset)

preset_name = depth_sensor.get_option_value_description(rs.option.visual_preset, 4)

https://github.com/IntelRealSense/librealsense/wiki/D400-Series-Visual-Presets#related-discussion

This part is setting the preset as in the Realsense Viewer, and in my need is the preset 4, high density.

The dorodnic of intel he wrote on loop to loop through the presets.

which he mentioned the preset numbers are changing all the time, I suppose its among other devices, at least in this same machine it stays

recorder = device.as_recorder()
pause = rs.recorder.pause(recorder)
playback = device.as_playback()
playback.set_real_time(False)
playback.pause()
playback.resume()

Recorder will start recording when in the configuration set,with function or .pause() and .resume()

And the next is playback

This is playing the recorded bag file

pause	Pause and resume, while resume it always turn really slow and lag, until it catch up with the frames
resume
file_name	I haven’t use these functions
get_position
get_duration
is_real_time	Set to the real time behavior as recorded time
set_real_time	Usually I set to set_real_time(False) so I can go through each frame to measure, or else the pipeline will keep the frames looping as real time behavior when its (True)
config.enable_record_to_file(file_name)	So I suppose it can open one bag and record this playback to a new file, while rs.config.enable_device_from_file(config, '123.bag') Does Not enable the same time config.enable_record_to_file(file_name)
current_status

Intrinsic/Extrinsic

https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0#intrinsic-camera-parameters

depth_stream = profile.get_stream(rs.stream.depth)
inst = rs.video_stream_profile.intrinsics
#get intrinsics of the frames
depth_intrin = depth_frame.profile.as_video_stream_profile().intrinsics
color_intrin = color_frame.profile.as_video_stream_profile().intrinsics
depth_to_color_extrin = depth_frame.profile.get_extrinsics_to(color_frame.profile)

These are getting some data of the camera and streams, i use intrinsic to get the calibration while projecting pixels to 3D coordinations

Otherwise I have no other use for them yet, as I go through the files the usage would be more in 3D models also, while creating by scanning, the accuracy is a lot more important in smaller scales

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So this part is without example codes because it's a more general usage for all files

which will be used in most further codes I will be demonstrating.

and I just got the use of turn off auto exposure today, will put it in in the future

the usage of turning it off is for not drop frames.

this is also one of my major issues 

I need to make it act as a camera, and every frame I took should be reachable

but the wait_for_frame is currently not giving me all the frames, and also not recording or recorded too much

if any pros saw this, please write in the comments or send me an email about this topic.

thank you!