RealsenseのDepthデータをMulti-Tiffに保存する

depth2multi-tiff.py

# -*- coding: utf-8 -*-

# use tiffile library
# https://pypi.org/project/tifffile/

import pyrealsense2 as rs
import numpy as np
import tifffile


#1280*720
resX=1280
resY=720

# Configure depth and color streams
pipeline = rs.pipeline()
config = rs.config()
config.enable_device_from_file('depth10sec.bag')
config.enable_stream(rs.stream.depth, resX, resY, rs.format.z16, 30)

# Init
profile = pipeline.start(config)
playback = profile.get_device().as_playback()
playback.set_real_time(False) #  <--- very important setting to get all frames

depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()

count=0
oldTimeStamp=0

try:
    # for first frame
    frames = pipeline.wait_for_frames()
    depth_frame = frames.get_depth_frame()
    currentTimestamp = depth_frame.timestamp

    i=0
    while (True):
        depth_frame = frames.get_depth_frame()
        if not depth_frame:
            continue
        # Get Depth data
        depth_image = np.asanyarray(depth_frame.get_data())

        #Save multi-Tiff
        tifffile.imsave('depth16.tif', depth_image, compress=6, append=True)
       
        print(i)
        i +=1

         # フレーム待ち(Depth & Color)
        frames = pipeline.wait_for_frames()
        depth_frame = frames.get_depth_frame()
        oldTimeStamp=currentTimestamp
        currentTimestamp = depth_frame.timestamp
        if oldTimeStamp>=currentTimestamp:
            break
    
finally:
    pipeline.stop()