python-- realsense系列的d435,d435i,l515相机接入与显示

• d435

import pyrealsense2 as rs
import numpy as np
import cv2
 
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
 
pipeline.start(config)
i=1
try:
    while True:
 
        # Wait for a coherent pair of frames: depth and color
        frames = pipeline.wait_for_frames()
        
        depth_frame = frames.get_depth_frame()
        
        color_frame = frames.get_color_frame()
        
        if not depth_frame or not color_frame:
            continue
 
        # Convert images to numpy arrays
        depth_image = np.asanyarray(depth_frame.get_data())
        color_image = np.asanyarray(color_frame.get_data())
 
        # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
 
        # Stack both images horizontally
        images = np.hstack((color_image, depth_colormap))
 
        # Show images
        cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('RealSense', images)
 
        key = cv2.waitKey(1)
        # Press esc or 'q' to close the image window
        if key & 0xFF == ord('q') or key == 27:
            cv2.destroyAllWindows()
            break
 
finally:
 
    # Stop streaming
    pipeline.stop()

• d435i

import pyrealsense2 as rs
import numpy as np
import cv2

# Configure depth and color streams
pipeline = rs.pipeline()
config = rs.config()
## 30:帧率
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
config.enable_stream(rs.stream.infrared, 1, 640, 480, rs.format.y8, 30)
config.enable_stream(rs.stream.infrared, 2, 640, 480, rs.format.y8, 30)

# Start streaming
pipeline.start(config)

try:
    while True:

        # Wait for a coherent pair of frames: depth and color
        frames = pipeline.wait_for_frames()
        depth_frame = frames.get_depth_frame()
        color_frame = frames.get_color_frame()
        ir_frame_left = frames.get_infrared_frame(1)
        ir_frame_right = frames.get_infrared_frame(2)
        if not depth_frame or not color_frame:
            continue

        # Convert images to numpy arrays
        depth_image = np.asanyarray(depth_frame.get_data())
        color_image = np.asanyarray(color_frame.get_data())
        ir_left_image = np.asanyarray(ir_frame_left.get_data())
        ir_right_image = np.asanyarray(ir_frame_right.get_data())

        # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

        # Stack both images horizontally
        images1 = np.hstack((color_image, depth_colormap))
        images2 = np.hstack((ir_left_image, ir_right_image))
        # Show images
        # cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('RealSense1', images1)
        # cv2.imshow("Display pic_irt", images2)

        key = cv2.waitKey(1)
        # Press esc or 'q' to close the image window
        if key & 0xFF == ord('q') or key == 27:
            cv2.destroyAllWindows()
            break

finally:
    # Stop streaming
    pipeline.stop()

• l515

import pyrealsense2 as rs
import numpy as np
import cv2
import os
 
# Configure depth and rgb and infrared streams
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 1024, 768, rs.format.z16, 30)
config.enable_stream(rs.stream.infrared, 1024, 768, rs.format.y8, 30)
config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)

# Align objects
#align_to = rs.stream.color
align_to = rs.stream.depth
align = rs.align(align_to)

# Start streaming
profile = pipeline.start(config)

# Depth scale
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth scale is: " , depth_scale)

try:
    while True:
        # Frames: depth and rgb and infrared
        frames = pipeline.wait_for_frames()
        aligned_frames = align.process(frames)
        depth_frame = aligned_frames.get_depth_frame()
        infrared_frame = aligned_frames.get_infrared_frame()
        color_frame = aligned_frames.get_color_frame()

        # Convert images to numpy arrays
        depth_data = np.asanyarray(depth_frame.get_data(), dtype="float16")
        depth_image = np.asanyarray(depth_frame.get_data())
        infrared_image = np.asanyarray(infrared_frame.get_data())
        color_image = np.asanyarray(color_frame.get_data())

        cv2.imshow('color_image', color_image)
        cv2.imshow('depth_image', depth_image)
        cv2.imshow('infrared',infrared_image)

# Save data
# np.savetxt('./realsense/depth_data.txt', depth_data)
# depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
# cv2.imwrite('./realsense/depth_image.jpg', depth_colormap)
# cv2.imwrite('./realsense/color_image.jpg', color_image)
# cv2.imwrite('./realsense/infrared_image.jpg', infrared_image)

finally:
    # Stop streaming
    pipeline.stop()