Python实战之Realsense

一、Windows下环境配置

python环境：python3.6

Realsense环境配置：anaconda prompt终端中进入自己的python3.6环境中，pip安装。

（Realsense官网：Intel RealSense for Developers - Build your own computer vision apps）

#第一步进入自己的环境（我的是pytorch_gpu）
conda activate pytorch_gpu
#第二步安装pyrealsense2
pip install pyrealsense2

测试：参考自Windows下使用Python配置环境、调用Intel realsense D435/D435i-python黑洞网

import pyrealsense2 as rs
import numpy as np
import cv2

if __name__ == "__main__":
    # Configure depth and color streams
    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)
    # 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()
            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()

二、视频录制

用通过调用OpenCV 的 VideoWriter 这个类来保存Realsense帧数据：

VideoWriter(filename, fourcc, fps, frameSize[, isColor]) -> <VideoWriter object>
"""
1.filename:视频保存路径
2.fourcc：指定编码器
3.fps：视频帧率
4.frameSize 视频图像尺寸
5.isColor False黑白画面、True彩色的画面
"""

下面示例为保存Realsense的RGB视频流，深度图类似。

import pyrealsense2 as rs
import numpy as np
import cv2

# # VIDEO SETTINGS
video_name = 'testwrite.avi'
video_fps = 30
video_w = 640
video_h = 480

# # REALSENSE SET
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.color, video_w, video_h, rs.format.bgr8, 30)
# Start streaming
pipeline.start(config)

# # SAVE
# fourcc 指定编码器
fourcc = cv2.VideoWriter_fourcc(*'XVID')
# Out settings(OpenCV)
out = cv2.VideoWriter(video_name, fourcc, video_fps, (video_w, video_h), True)
while True:
    frames = pipeline.wait_for_frames()
    color_frame = frames.get_color_frame()
    color_image = np.asanyarray(color_frame.get_data())  # 转为数组
    cv2.imshow('frame', color_image)
    out.write(color_image)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

pipeline.stop()
out.release()
cv2.destroyAllWindows()

其中cv2.waitKey(1) & 0xFF == ord(‘q’)的意义：

• cv2.waitKey(1)：在1ms内根据键盘输入返回一个值
• 0xFF ：一个十六进制数
• ord('q') ：返回q的ascii码

代码段中其作用为显示图片。而如果使用cv2.waitKey(0)则会导致进程卡在等待键盘输入-->出错。

详见：cv2.waitKey的入门级理解_山上有强强的博客-CSDN博客_cv2.waitkey