import sys
sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
import cv2
import pyrealsense2 as rs
import numpy as np
config = rs.config()
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.infrared, 640, 480, rs.format.y8, 3)
config.enable_record_to_file('./d415data.bag')
pipeline = rs.pipeline()
profile = pipeline.start(config)
try:
while True:
frames = pipeline.wait_for_frames()
color_frame = frames.get_color_frame()
depth_frame = frames.get_depth_frame()
if not depth_frame or not color_frame:
continue
color_image = np.asanyarray(color_frame.get_data())
depth_color_frame = rs.colorizer().colorize(depth_frame)
depth_color_image = np.asanyarray(depth_color_frame.get_data())
images = np.hstack((color_image, depth_color_image))
cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
cv2.imshow('RealSense', images)
if cv2.waitKey(1) & 0xff == 27:
break
finally:
pipeline.stop()
cv2.destroyAllWindows()
real senseD435 python获取图像保存方法
最新推荐文章于 2023-10-10 09:31:37 发布