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jetson_nano1.py
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jetson_nano1.py
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import socket
import struct
import numpy as np
import pickle
from pyrealsense2 import pyrealsense2 as rs
def send_frame(conn, frame):
# Serialize the frame using pickle
serialized_frame = pickle.dumps(frame)
# Send the length of the serialized frame
conn.sendall(struct.pack("L", len(serialized_frame)))
# Send the serialized frame
conn.sendall(serialized_frame)
def main():
server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_socket.bind(('0.0.0.0', 5000))
print("listen")
server_socket.listen(1)
connection, addr = server_socket.accept()
print("connection")
pipeline = rs.pipeline()
config = rs.config()
# Configure the RealSense pipeline
# Add necessary stream configurations based on your requirements
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
profile = pipeline.start(config)
try:
while True:
# Wait for a coherent pair of frames
frames = pipeline.wait_for_frames()
color_frame = frames.get_color_frame()
if not color_frame:
continue
# Convert the color frame to a numpy array
frame_data = np.asanyarray(color_frame.get_data())
# Send the frame to the client
send_frame(connection, frame_data)
finally:
pipeline.stop()
if __name__ == "__main__":
main()