Intel深度摄像头RealSense D435（实感双目摄像头）调用代码

 1.RealSense D435摄像头的使用

1.1 使用D435读取摄像头RGB和深度图

import pyrealsense2 as rs
import numpy as np
import cv2

# 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)

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()
        # 深度图
        depth_frame = frames.get_depth_frame()
        # 正常读取的视频流
        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())
        # print(f"depth_image shape: {depth_image.shape} color_image shape: {color_image.shape}")
        print(f"depth_image value: {depth_image}")   # 里面0值很多，还有很多1900左右的值      300mm 单位是毫米=30厘米=0.3米
        # depth_image shape: (480, 640) color_image shape: (480, 640, 3)
        # 深度图是单通道  颜色图是三通道的

        # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
        # 在深度图像上应用colormap(图像必须先转换为每像素8位)
        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)
        cv2.waitKey(1)

finally:

    # Stop streaming
    pipeline.stop()