INNER CODE UNIT · Python
save_keyframe
MIT-SPARK/VGGT-SLAM · main_realtime.py:44
def save_keyframe(img: np.ndarray, folder: str, idx: int) -> str:
filename = os.path.join(folder, f"frame_{idx:06d}.png")
cv2.imwrite(filename, img)
return filename
def restart_camera(camera, stop_event=None, retry_delay: float = 2.0):
"""Stop and re-start the camera, retrying until a device is streaming again.
Used to recover from a mid-session disconnect (e.g. a RealSense USB drop),
where ``capture()`` raises. Honors ``stop_event`` so the user can still
cancel while a camera is unplugged. Returns the working camera object, or
None if aborted via stop_event.
"""
try:
camera.stop()
except Exception:
pass # device may already be gone; ignore teardown errors