图像采集
realsense间接读取进去的彩色图片和深度图片是没有对齐的，读取进去的两张图片像素之间没有一一对应。然而个别应用两张图片是须要对齐的，并且间接利用深度信息。
以下程序为了更加不便的采集数据。
程序运行后q退出，s保留图片。
import pyrealsense2 as rsimport numpy as npimport cv2import timeimport ospipeline = rs.pipeline()#Create a config并配置要流式传输的管道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)depth_sensor = profile.get_device().first_depth_sensor()depth_scale = depth_sensor.get_depth_scale()print("Depth Scale is: " , depth_scale)align_to = rs.stream.coloralign = rs.align(align_to)# 依照日期创立文件夹save_path = os.path.join(os.getcwd(), "out", time.strftime("%Y_%m_%d_%H_%M_%S", time.localtime()))os.mkdir(save_path)os.mkdir(os.path.join(save_path, "color"))os.mkdir(os.path.join(save_path, "depth"))# 保留的图片和实时的图片界面cv2.namedWindow("live", cv2.WINDOW_AUTOSIZE)cv2.namedWindow("save", cv2.WINDOW_AUTOSIZE)saved_color_image = None # 保留的长期图片saved_depth_mapped_image = Nonesaved_count = 0# 主循环try: while True: frames = 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: continue depth_data = np.asanyarray(aligned_depth_frame.get_data(), dtype="float16") depth_image = np.asanyarray(aligned_depth_frame.get_data()) color_image = np.asanyarray(color_frame.get_data()) depth_mapped_image = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET) cv2.imshow("live", np.hstack((color_image, depth_mapped_image))) key = cv2.waitKey(30) # s 保留图片 if key & 0xFF == ord('s'): saved_color_image = color_image saved_depth_mapped_image = depth_mapped_image # 彩色图片保留为png格局 cv2.imwrite(os.path.join((save_path), "color", "{}.png".format(saved_count)), saved_color_image) # 深度信息由采集到的float16间接保留为npy格局 np.save(os.path.join((save_path), "depth", "{}".format(saved_count)), depth_data) saved_count+=1 cv2.imshow("save", np.hstack((saved_color_image, saved_depth_mapped_image))) # q 退出 if key & 0xFF == ord('q') or key == 27: cv2.destroyAllWindows() break finally: pipeline.stop()保留后的图像读取
import cv2import numpy as npimport matplotlib.pyplot as pltif __name__ == "__main__": color_image = cv2.imread("./0.png") depth_image = np.load("./0.npy") cv2.imshow("color", color_image) # 读取到的深度信息/1000 为实在的深度信息，单位为m # truth_depth = depth_image[x, y]/1000 # 如果深度信息为0, 则阐明没有获取到 plt.imshow(depth_image.astype(np.int), "gray") plt.show() cv2.waitKey()