from openni import openni2
import numpy as np
import cv2
openni2.initialize() # can also accept the path of the OpenNI redistribution
dev = openni2.Device.open_any()
print(dev.get_device_info())
depth_stream = dev.create_depth_stream()
color_stream = dev.create_color_stream()
depth_stream.start()
color_stream.start()
while True:
# 显示深度图
frame = depth_stream.read_frame()
dframe_data = np.array(frame.get_buffer_as_triplet()).reshape([240, 320, 2])
dpt1 = np.asarray(dframe_data[:, :, 0], dtype='float32')
dpt2 = np.asarray(dframe_data[:, :, 1], dtype='float32')
dpt2 *= 255
dpt = dpt1 + dpt2
cv2.imshow('dpt', dpt)
# 显示RGB图像
cframe = color_stream.read_frame()
cframe_data = np.array(cframe.get_buffer_as_triplet()).reshape([240, 320, 3])
R = cframe_data[:, :, 0]
G = cframe_data[:, :, 1]
B = cframe_data[:, :, 2]
cframe_data = np.transpose(np.array([B, G, R]), [1, 2, 0])
# print(cframe_data.shape)
cv2.imshow('color', cframe_data)
# 按下esc键退出循环
key = cv2.waitKey(27)
if int(key) == 113:
break
# 关闭设备
depth_stream.stop()
color_stream.stop()
dev.close()
基于Openni 获取深度图像
最新推荐文章于 2024-08-15 01:55:01 发布