哪些深度相机有python接口_python 从深度相机realsense生成pcl点云

简单说下步骤：

一、通过realsense取得深度信息和彩色信息

二、获取坐标和色彩信息

三、通过pcl可视化点云

一、通过realsense取得深度信息和彩色信息

ubuntu下intel realsense的软件可以打开realsen的界面，里面可以得到彩色图像和深度图像，我们通过realsense的python接口获取彩色信息和深度信息。

1.基础的获取彩色和深度信息，realsense中的视频流转换为python的numpy格式，通过opencv输出

import pyrealsense2 as rs

import numpy as np

import cv2

import pcl

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)

#深度图像向彩色对齐

align_to_color=rs.align(rs.stream.color)

try:

while True:

# 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_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