#coding=utf-8
import pyrealsense2 as rs
import numpy as np
import cv2
import os
# 创建一个管道
pipeline = rs.pipeline()
# Create a config并配置要流式传输的管道
# 颜色和深度流的不同分辨率
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)
# 开始流式传输
profile = pipeline.start(config)
# 获取深度传感器的深度标尺(参见rs - align示例进行说明)
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth Scale is: ", depth_scale)
# 创建对齐对象
# rs.align允许我们执行深度帧与其他帧的对齐
# “align_to”是我们计划对齐深度帧的流类型。
align_to = rs.stream.color
align = rs.align(align_to)
index = 0
color_path = 'color_img'
depth_path = 'depth_img'
# Streaming循环
try:
while True:
index += 1
# 获取颜色和深度的框架集
frames = pipeline.wait_for_frames()
# frames.get_depth_frame()是640x360深度图像
# 将深度框与颜色框对齐
aligned_frames = align.process(frames)
# 获取对齐的帧
aligned_depth_frame = aligned_frames.get_depth_frame()# aligned_depth_frame是640x480深度图像
color_frame = aligned_frames.get_color_frame()
# 验证两个帧是否有效
if not aligned_depth_frame or not color_frame:
continue
depth_image = np.asanyarray(aligned_depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
# 转换深度图像为三通道
depth_image_3d = np.dstack((depth_image, depth_image, depth_image))
# 渲染图像
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image_3d, alpha=0.03), cv2.COLORMAP_JET)
# 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_colormap)
if index % 25 == 0:
color = 'depth_' + str(index) + '.jpg'
depth = 'depth_' + str(index) + '.jpg'
cv2.imwrite(os.path.join(color_path, color), color_image)
cv2.imwrite(os.path.join(depth_path, depth), depth_colormap)
key = cv2.waitKey(1)
if key & 0xFF == ord('q') or key == 27:
cv2.destroyAllWindows()
break
finally:
pipeline.stop()