intel realsense获取8位深度图

intel realsense获取8位对齐深度图

实例代码
Mac环境配置看这里

实例代码

import png
import pyrealsense2 as rs
import logging
logging.basicConfig(level=logging.INFO)
import numpy as np
import cv2
import osdef make_directories():if not os.path.exists("JPEGImages/"):os.makedirs("JPEGImages/")if not os.path.exists("depth/"):os.makedirs("depth/")if not os.path.exists("8bit_depth/"):os.makedirs("8bit_depth/")if __name__ == "__main__":make_directories()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)profile = pipeline.start(config)frames = pipeline.wait_for_frames()color_frame = frames.get_color_frame()intr = color_frame.profile.as_video_stream_profile().intrinsicsalign_to = rs.stream.coloralign = rs.align(align_to)number = 0while True:filecad = "JPEGImages/%s.jpg" % numberfiledepth = "depth/%s.png" % numberfiledepth_8b = "8bit_depth/%s.png" % numberframes = pipeline.wait_for_frames()aligned_frames = align.process(frames)aligned_depth_frame = aligned_frames.get_depth_frame()color_frame = aligned_frames.get_color_frame()if not aligned_depth_frame or not color_frame:continued = np.asanyarray(aligned_depth_frame.get_data())d8 = cv2.convertScaleAbs(d, alpha=0.3)pos = np.where(d8 == 0)d8[pos] = 255c = np.asanyarray(color_frame.get_data())cv2.imshow('COLOR IMAGE', c)if cv2.waitKey(1) & 0xFF == ord('q'):cv2.imwrite(filecad, c)writer16 = png.Writer(width=d.shape[1], height=d.shape[0],bitdepth=16, greyscale=True)writer8 = png.Writer(width=d.shape[1], height=d.shape[0],bitdepth=8, greyscale=True)with open(filedepth, 'wb') as f:zgray2list = d.tolist()writer16.write(f, zgray2list)with open(filedepth_8b, 'wb') as f2:zgray2list_b8 = d8.tolist()writer8.write(f2, zgray2list_b8)number += 1cv2.destroyAllWindows()

Mac环境配置看这里

Mac编译安装pyrealsense

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intel realsense获取8位深度图

intel realsense获取8位对齐深度图

实例代码

Mac环境配置看这里

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