测试realsense安装：

import pyrealsense2 as rs
import numpy as np
import cv2

def main():
    # 配置RealSense管道
    pipeline = rs.pipeline()
    config = rs.config()
    
    # 启用RGB和彩色深度流
    config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
    
    # 启动流
    pipeline.start(config)
    
    try:
        while True:
            # 等待对齐的帧
            frames = pipeline.wait_for_frames()
            color_frame = frames.get_color_frame()
            depth_frame = frames.get_depth_frame()
            
            if not color_frame or not depth_frame:
                continue
            
            # 将帧转换为NumPy数组
            color_image = np.asanyarray(color_frame.get_data())
            depth_image = np.asanyarray(depth_frame.get_data())
            
            # 归一化深度图用于显示
            depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
            
            # 显示RGB和彩色深度图
            cv2.imshow('RealSense RGB', color_image)
            cv2.imshow('RealSense Depth', depth_colormap)
            
            # 按 'q' 退出
            if cv2.waitKey(1) & 0xFF == ord('q'):
                break
    finally:
        # 停止管道
        pipeline.stop()
        cv2.destroyAllWindows()

if __name__ == "__main__":
    main()

使用ZMQ发送数据：camera_server.py

import pyrealsense2 as rs
import numpy as np
import cv2
import zmq

# 设置ZMQ
context = zmq.Context()
socket = context.socket(zmq.PUB)  # 使用发布订阅模式
socket.bind("tcp://*:5555")  # 绑定到本机5555端口

def main():
    # 配置RealSense
    pipeline = rs.pipeline()
    config = rs.config()
    config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
    pipeline.start(config)

    try:
        while True:
            frames = pipeline.wait_for_frames()
            color_frame = frames.get_color_frame()
            depth_frame = frames.get_depth_frame()

            if not color_frame or not depth_frame:
                continue

            # 转换数据
            color_image = np.asanyarray(color_frame.get_data())
            depth_image = np.asanyarray(depth_frame.get_data())

            # 压缩RGB图像
            _, color_encoded = cv2.imencode('.jpg', color_image, [cv2.IMWRITE_JPEG_QUALITY, 80])

            # 压缩深度图（使用PNG无损压缩）
            _, depth_encoded = cv2.imencode('.png', depth_image)

            # 发送数据（RGB前缀 "RGB", 深度前缀 "DEPTH"）
            socket.send_multipart([b"RGB", color_encoded.tobytes()])
            socket.send_multipart([b"DEPTH", depth_encoded.tobytes()])
    
    finally:
        pipeline.stop()

if __name__ == "__main__":
    main()

接收图像：

import zmq
import cv2
import numpy as np

# 设置ZMQ
context = zmq.Context()
socket = context.socket(zmq.SUB)
socket.connect("tcp://<服务器IP>:5555")  # 替换为服务器IP
socket.setsockopt_string(zmq.SUBSCRIBE, "RGB")
socket.setsockopt_string(zmq.SUBSCRIBE, "DEPTH")

def main():
    while True:
        topic, img_data = socket.recv_multipart()

        if topic == b"RGB":
            # 解码RGB图像
            color_image = cv2.imdecode(np.frombuffer(img_data, dtype=np.uint8), cv2.IMREAD_COLOR)
            cv2.imshow("Received RGB", color_image)

        elif topic == b"DEPTH":
            # 解码深度图像
            depth_image = cv2.imdecode(np.frombuffer(img_data, dtype=np.uint8), cv2.IMREAD_UNCHANGED)
            depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
            cv2.imshow("Received Depth", depth_colormap)

        # 退出条件
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break

    cv2.destroyAllWindows()

if __name__ == "__main__":
    main()

在数梅派中设置自动运行脚本：

sudo nano /etc/systemd/system/camera.service

[Unit]
Description=RealSense Camera Service
After=network.target

[Service]
ExecStart=/home/raspi/miniforge3/envs/go1/bin/python /home/raspi/camera_server.py
WorkingDirectory=/home/raspi
StandardOutput=inherit
StandardError=inherit
Restart=always
User=raspi

[Install]
WantedBy=multi-user.target

启动服务 

sudo systemctl daemon-reload
sudo systemctl enable camera.service
sudo systemctl start camera.service

检查服务：

sudo systemctl status camera.service

停止或禁用服务：

sudo systemctl stop camera.service   # 停止服务
sudo systemctl disable camera.service   # 禁用开机自启