#coding=utf-8
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)
# 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())
# 将深度图转换成彩色图
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
# 将彩色图和深度图叠加在一起
#images = np.hstack((color_image, depth_colormap))
#print(color_image)
#print(depth_colormap)
depth_image_3d = np.dstack((depth_image, depth_image, depth_image))
# 原图
cv2.namedWindow('color_image', cv2.WINDOW_AUTOSIZE)
cv2.imshow('color_image', color_image)
# 深度图
cv2.namedWindow('depth_colormap', cv2.WINDOW_AUTOSIZE)
cv2.imshow('depth_colormap', depth_image_3d)
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()