深度图和RGB图对齐

最新推荐文章于 2024-06-08 19:30:36 发布

Dr. Qing

最新推荐文章于 2024-06-08 19:30:36 发布

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分类专栏：解决问题文章标签： realsense opencv RGBD RGB

本文链接：https://blog.csdn.net/Fourier_Legend/article/details/112031924

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深度图(canny):
在这里插入图片描述
RGB(canny):

Alignment：
在这里插入图片描述

code:

import cv2
import numpy as np

from matplotlib import pyplot as plt 

import threading

imgdd = cv2.imread('./rgbd.jpg', 0) 
imgg  = cv2.imread('./my.png', 0)
imgd = cv2.Canny(imgdd,100,200) 
img  = cv2.Canny(imgg,100,200) 

def parm_adjust_th():  
    cv2.namedWindow('Pose_Adjuster')
    cv2.createTrackbar('pos_x', 'Pose_Adjuster', 159, 200 * 2, callback)
    cv2.createTrackbar('pos_y', 'Pose_Adjuster', 80, 200 * 2, callback)
    cv2.createTrackbar('scale', 'Pose_Adjuster', 186, 200, callback)  

    while(True):
        pos_x = (cv2.getTrackbarPos('pos_x', 'Pose_Adjuster') - 200) 
        pos_y = (cv2.getTrackbarPos('pos_y', 'Pose_Adjuster') - 200)
        scale = (cv2.getTrackbarPos('scale', 'Pose_Adjuster') )

        # print(img.shape)
        # print(imgd.shape[0], imgd.shape[1]) 

        # global trans
        trans = [pos_x, pos_y, scale]
        print("===>>> Trans : ", trans)
        scale_percent = trans[2] # percent of original size
        width = int(imgd.shape[1] * scale_percent / 100)
        height = int(imgd.shape[0] * scale_percent / 100)
        dim = (width, height)
        resized = cv2.resize(imgd, dim, interpolation = cv2.INTER_AREA) 
        # print(resized.shape)
        # print(img.shape)
        # print("===>>> Trans : ", trans)
        for u in range(min(len(resized[:,0]), img.shape[0])):
            for v in range(min(len(resized[0,:] - 1), img.shape[1])): 
                # print(u, v, img.shape[0], img.shape[1])
                if resized[u, v] != 0 and trans[1]+ u < img.shape[0] and trans[0]+v < img.shape[1]:
                    img[trans[1]+ u, trans[0]+v] = resized[u, v]
        # print(trans[1], trans[1]+ imgd.shape[0], trans[0], trans[0]+imgd.shape[1])

        if cv2.waitKey(10) & 0xFF == ord('q'):
            break
        cv2.imshow('Pose_Adjuster', img)
        cv2.imwrite("cnny_align.png", img)
    cv2.destroyAllWindows()  

def callback(object):
    pass
  
if __name__ == '__main__':  
    parm_adjust_th()