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()
09-29
1458
![](https://csdnimg.cn/release/blogv2/dist/pc/img/readCountWhite.png)
07-02
1538
![](https://csdnimg.cn/release/blogv2/dist/pc/img/readCountWhite.png)