48 lines
1.4 KiB
Python
48 lines
1.4 KiB
Python
import pyrealsense2.pyrealsense2 as rs
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import numpy as np
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import cv2
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# Configure depth and color streams
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pipeline = rs.pipeline()
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config = rs.config()
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# Get device product line for setting a supporting resolution
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pipeline_wrapper = rs.pipeline_wrapper(pipeline)
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pipeline_profile = config.resolve(pipeline_wrapper)
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device = pipeline_profile.get_device()
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device_product_line = str(device.get_info(rs.camera_info.product_line))
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found_rgb = True
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config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
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# Start streaming
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pipeline.start(config)
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try:
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while True:
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# Wait for a coherent pair of frames: depth and color
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frames = pipeline.wait_for_frames()
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depth_frame = frames.get_depth_frame()
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if not depth_frame:
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continue
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# Convert images to numpy arrays
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depth_image = np.asanyarray(depth_frame.get_data())
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# Apply colormap on depth image (image must be converted to 8-bit per pixel first)
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depth_colormap_c = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.2), cv2.COLORMAP_BONE)
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depth_colormap = cv2.cvtColor(depth_colormap_c, cv2.COLOR_BGR2GRAY)
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# depth_colormap = depth_colormap_c
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# print(type(depth_colormap))
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# Show images
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cv2.imshow('RealSense', depth_colormap)
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cv2.waitKey(1)
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finally:
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# Stop streaming
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pipeline.stop()
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