pyrealsense2获取保存点云

一、第一种实现代码

Python

import sys
import cv2
import pyrealsense2 as rs
import numpy as np
import keyboard
import open3d as o3d
import os

if __name__ == "__main__":
    output_folder = 'output_data/'
    os.makedirs(output_folder, exist_ok=True)

    pipeline = rs.pipeline()
    config = rs.config()
    config.enable_stream(rs.stream.depth, 848, 480, rs.format.z16, 30)
    config.enable_stream(rs.stream.color, 848, 480, rs.format.bgr8, 30)
    # Start streaming
    pipeline.start(config)
    # 深度图像向彩色对齐
    align_to_color = rs.align(rs.stream.color)
    i = 0
    try:
        while True:
            pc = rs.pointcloud()
            # Wait for a coherent pair of frames: depth and color
            frames = pipeline.wait_for_frames()
            frames = align_to_color.process(frames)

            depth_frame = frames.get_depth_frame()
            color_frame = frames.get_