Intel RealSense D435i深度相机(Python)

 一、利用深度相机实时测距

代码一（实时显示窗口中心点处的距离信息）：

# distance_center
import pyrealsense2 as rs
import numpy as np
import cv2

# 初始化深度相机
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)

try:
    while True:
        try:
            # 等待深度数据帧和RGB数据帧，设置等待时间为10秒
            frames = pipeline.wait_for_frames(timeout_ms=10000)
            depth_frame = frames.get_depth_frame()
            color_frame = frames.get_color_frame()

            if not depth_frame or not color_frame:
                continue

            # 获取深度图像的原始数据
            depth_data = np.asanyarray(depth_frame.get_data())

            # 获取RGB图像的原始数据
            color_data = np.asanyarray(color_frame.get_data())

            # 在深度图像上叠加距离信息
            depth_value = depth_frame.get_distance(320, 240)  # 320, 240是图像中心像素坐标
            distance_in_meters = round(depth_value, 2)
            cv2.putText(color_data, f"Distance: {distance_in_meters} m", (10, 30),
                        cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)

            # 在图像中心上点上加上标记
            center_x, center_y = 320, 240  # 图像中心像素坐标
            cv2.drawMarker(color_data, (center_x, center_y), (0, 255, 0), cv2.MARKER_CROSS, markerSize=20, thickness=2)

            # 使用伪彩色映射器将深度数据转换为伪彩色图像
            colorizer = rs.colorizer()
            depth_colormap = np.asanyarray(colorizer.colorize(depth_frame).get_data())

            # 创建一个窗口，显示彩色图像和伪彩色深度图像
            combined_image = np.hstack((color_data, depth_colormap))
            cv2.imshow("Combined Image", combined_image)

            # 按Esc键退出循环
            key = cv2.waitKey(1)
            if key == 27:
                break
        except RuntimeError as e:
            print(f"等待帧时发生错误: {e}")

finally:
    pipeline.stop()
    cv2.destroyAllWindows()

代码二（实时显示鼠标点击出的距离信息，实时窗口和终端都显示）：

import pyrealsense2 as rs
import numpy as np
import cv2

# 初始化深度相机
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)

# 创建深度图像的伪彩色映射器
colorizer = rs.colorizer()

# 回调函数，处理鼠标点击事件
def on_mouse_click(event, x, y, flags, param):
    if event == cv2.EVENT_LBUTTONDOWN:  # 当左键被点击时
        distance = depth_frame.get_distance(x, y)  # 获取鼠标点击点的距离
        distance_in_meters = round(distance, 2)
        cv2.putText(combined_image, f"Distance: {distance_in_meters} m", (20, 30),
                    cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
        print(f"Distance at ({x}, {y}): {distance_in_meters}m")  # 打印距离信息到终端
        cv2.imshow("Combined Image", combined_image)
        cv2.waitKey(100)   # 显示距离文本的时间

# 创建一个窗口并设置鼠标回调函数
cv2.namedWindow("Combined Image")
cv2.setMouseCallback("Combined Image", on_mouse_click)

try:
    while True:
        try:
            # 等待深度数据帧和RGB数据帧，设置等待时间为10秒
            frames = pipeline.wait_for_frames(timeout_ms=10000)
            depth_frame = frames.get_depth_frame()
            color_frame = frames.get_color_frame()

            if not depth_frame or not color_frame:
                continue

            color_data = np.asanyarray(color_frame.get_data())

            depth_colormap = np.asanyarray(colorizer.colorize(depth_frame).get_data())

            combined_image = np.hstack((color_data, depth_colormap))
            cv2.imshow("Combined Image", combined_image)

            key = cv2.waitKey(1)
            if key == 27:
                break
        except RuntimeError as e:
            print(f"等待帧时发生错误: {e}")

finally:
    pipeline.stop()
    cv2.destroyAllWindows()

二、深度相机保存左目和右目图像

import pyrealsense2 as rs
import numpy as np
import cv2
import os
import time

def get_color_images(left_save_dir, right_save_dir):
    # 创建左目和右目的保存路径
    if not os.path.exists(left_save_dir):
        os.makedirs(left_save_dir)
    if not os.path.exists(right_save_dir):
        os.makedirs(right_save_dir)

    # 配置和启动Realsense流
    pipeline = rs.pipeline()
    config = rs.config()
    config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)  # 配置彩色流
    pipeline.start(config)

    try:
        while True:
            # 获取图像
            frames = pipeline.wait_for_frames()
            color_frame = frames.get_color_frame()

            # 将图像数据转换为OpenCV格式
            color_image = None
            if color_frame:
                color_image = np.asanyarray(color_frame.get_data())

                # 获取当前时间戳
                t = time.time()
                tname = str(t)[5:10]  # 提取时间的秒数作为时间戳的名称

                # 保存图像到左目和右目的不同文件夹，使用不同的文件名
                left_image_name = 'left_color_image' + str(tname) + '.png'
                right_image_name = 'right_color_image' + str(tname) + '.png'

                cv2.imwrite(os.path.join(left_save_dir, left_image_name), color_image)  # 保存左目彩色图像
                cv2.imwrite(os.path.join(right_save_dir, right_image_name), color_image)  # 保存右目彩色图像

                # 实时显示彩色图像
                cv2.imshow('RealSense Color Image', color_image)

            # 等待1毫秒并检查是否按下Esc键
            key = cv2.waitKey(1)
            if key == 27:  # 27是Esc键的ASCII码
                break

    finally:
        # 停止数据流并销毁窗口
        pipeline.stop()
        cv2.destroyAllWindows()

if __name__ == "__main__":
    left_save_dir = r"left_folder_path"  # 保存左目彩色图像的文件夹路径
    right_save_dir = r"right_folder_path"  # 保存右目彩色图像的文件夹路径

    get_color_images(left_save_dir, right_save_dir)  # 获取并保存彩色图像