Realsense D405: Frame didn't arrive within 10000

• MartyG

  • June 20, 2024 09:33

  Hi Matsyarelease  Does the error still occur if you unplug the camera from the USB port, wait a couple of seconds and then re-insert it before you run your script, please?

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• Matsyarelease

  • June 20, 2024 09:55

  yes 

   

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• MartyG

  • June 20, 2024 10:03

  Are you accessing the Pi over an SSH terminal connection?

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• Matsyarelease

  • June 21, 2024 04:08

  No, normally used pi terminal 

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• Matsyarelease

  • June 21, 2024 04:11

  MartyG When I connect camera and run wrappers/python/examples/python-rs400-advanced-mode-example.py it detects properly like D405 is connected but I am not getting frames

   

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• MartyG

  • June 21, 2024 06:32
  • Edited

  The python-rs400-advanced-mode-example.py Python example program does not stream frames.  It is a demonstration of getting and setting the values of Advanced Mode options.

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• Matsyarelease

  • July 01, 2024 05:36
  • Edited

  Yes, and I installed RealSense viewer it works properly in 2D and 3D, but when I run python code it didn't  

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• Matsyarelease

  • July 01, 2024 05:38

  This is my code. it run properly on window10
  
  import cv2

  import pyrealsense2 as rs

  import pandas as pd

  import numpy as np

  import os

  
  

  # Initialize RealSense pipeline and configuration

  pipeline = rs.pipeline()

  config = rs.config()

  config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)

  config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)

  
  

  # Start the pipeline

  pipeline.start(config)

  
  

  # Function to handle mouse movement and display cursor coordinates

  def show_cursor_coords(event, x, y, flags, param):

      if event == cv2.EVENT_MOUSEMOVE:

          cv2.putText(color_image, f"({x}, {y})", (x+5, y+5), cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 0), 1)

  
  

  # Function to calculate Euclidean distance between two points

  def euclidean_distance(point1, point2):

      return int(round(np.sqrt((point1[0] - point2[0]) ** 2 + (point1[1] - point2[1]) ** 2)))

  
  

  # Function to handle mouse clicks

  def on_mouse_click(event, x, y, flags, param):

      if event == cv2.EVENT_LBUTTONDOWN:

          depth_value = depth_frame.get_distance(x, y)

          print(f"Clicked at pixel coordinates (x, y): ({x}, {y}), Depth value: {depth_value} meters")

          clicked_points.append(((x, y), depth_value))

          cv2.circle(color_image, (x, y), 10, (148, 0, 211), -1)

  
  

  # Function to create a folder if it doesn't exist

  def create_folder_if_not_exists(folder_name):

      if not os.path.exists(folder_name):

          os.makedirs(folder_name)

  
  

  # Function to zoom the image

  def zoom_image(image, factor):

      height, width = image.shape[:2]

      center = (width // 2, height // 2)

      scaled_image = cv2.resize(image, None, fx=factor, fy=factor)

      new_height, new_width = scaled_image.shape[:2]

      y_offset = (new_height - height) // 2

      x_offset = (new_width - width) // 2

      return scaled_image[y_offset:y_offset + height, x_offset:x_offset + width]

  
  

  # Initialize variables

  clicked_points = []

  zoom_factor = 1.0

  df = pd.DataFrame(columns=['Point1', 'Point1_Depth', 'Point2', 'Point2_Depth', 'Number_of_Pixels'])

  current_recording = 1

  current_folder = f"SR_{current_recording}"

  
  

  try:

      while True:

          # Wait for frames with a timeout

          frames = pipeline.wait_for_frames(timeout_ms=10000)

          depth_frame = frames.get_depth_frame()

          color_frame = frames.get_color_frame()

  
  

          if not depth_frame or not color_frame:

              continue

  
  

          depth_image = np.asanyarray(depth_frame.get_data())

          color_image = np.asanyarray(color_frame.get_data())

  
  

          zoomed_color_image = zoom_image(color_image, zoom_factor)

          cv2.imshow("Color Image", cv2.cvtColor(zoomed_color_image, cv2.COLOR_BGR2RGB))

          cv2.setMouseCallback("Color Image", show_cursor_coords)

  
  

          depth_matrix = depth_image * depth_frame.get_units()

          depth_matrix = depth_matrix.astype(np.uint16)

  
  

          cv2.setMouseCallback("Color Image", on_mouse_click)

  
  

          key = cv2.waitKey(1) & 0xFF

          if key == ord('C') or key == ord('c'):

              if len(clicked_points) == 2:

                  point1 = clicked_points[0]

                  point2 = clicked_points[1]

                  distance_pixels = euclidean_distance(clicked_points[0][0], clicked_points[1][0])

                  print(f"Number of pixels in a straight line between two clicked points: {distance_pixels}")

  
  

                  df.loc[len(df.index)] = {

                      'Point1': point1[0],

                      'Point1_Depth': point1[1] * 100,

                      'Point2': point2[0],

                      'Point2_Depth': point2[1] * 100,

                      'Number_of_Pixels': distance_pixels

                  }

  
  

                  # Create folder for the current recording if it doesn't exist

                  create_folder_if_not_exists(current_folder)

  
  

                  # Save color image with serial number

                  color_image_path = os.path.join(current_folder, f"{current_recording}.png")

                  cv2.imwrite(color_image_path, color_image)

  
  

                  # Save depth matrix with serial number

                  depth_matrix_path = os.path.join(current_folder, f"{current_recording}.npy")

                  np.save(depth_matrix_path, depth_image)

  
  

                  # Save depth values in text file

                  depth_file = os.path.join(current_folder, f"{current_recording}.txt")

                  depth_value_in_meters = depth_image * depth_frame.get_units()

                  with open(depth_file, 'w+') as f:

                      np.savetxt(f, depth_value_in_meters, fmt='%.6f')

  
  

                  clicked_points.clear()

  
  

                  # Increment current recording and folder name

                  current_recording += 1

                  current_folder = f"SR_{current_recording}"

  
  

          elif key == ord('='):

              # Zoom in (increase the zoom factor)

              zoom_factor *= 1.1

          elif key == ord('-'):

              # Zoom out (decrease the zoom factor)

              zoom_factor /= 1.1

          elif key == ord('Q') or key == ord('q'):

              print("Program ended.")

              df.to_excel('data-1.xlsx', index=False)

              pipeline.stop()

              cv2.destroyAllWindows()

              break

  
  

  except KeyboardInterrupt:

      pass

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• MartyG

  • July 01, 2024 07:08

  Have you tried 640x480 resolution instead of 1280x720, or using 1280x720 at 15 FPS instead of 30?  

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• Matsyarelease

  • July 01, 2024 07:24

  yes 

   

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• MartyG

  • July 01, 2024 08:28

  Does the simple test script at the link below work?  If it does then it could suggest that the additional elements of your script other than basic depth and color streaming (such as zooming and clicking points) may be too much for the Pi board to process.

  https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python#streaming-using-rspipeline

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• Matsyarelease

  • July 02, 2024 07:03

  https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python#streaming-using-rspipeline  Getting same error 

   

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• MartyG

  • July 02, 2024 08:39

  Is the RealSense Viewer closed when you run a Python script?

   

  What method did you use to install the pyrealsense2 wrapper on Pi?

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