1 importpyrealsense2 as rs2 importnumpy as np3 importcv24
5 pipeline =rs.pipeline()6
7 config =rs.config()8
9 config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 15) #10、15或者30可选,20或者25会报错，其他帧率未尝试
10 config.enable_stream(rs.stream.infrared, 1, 640, 480, rs.format.y8, 15)11 config.enable_stream(rs.stream.infrared, 2, 640, 480, rs.format.y8, 15)12 config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 15)13
14 profile =pipeline.start(config)15
16 #Getting the depth sensor‘s depth scale (see rs-align example for explanation)
17 depth_sensor =profile.get_device().first_depth_sensor()18 depth_scale =depth_sensor.get_depth_scale()19 print("Depth Scale is:", depth_scale)20
21 clipping_distance_in_meters = 1 #1 meter
22 clipping_distance = clipping_distance_in_meters /depth_scale23
24 #Create an align object
25 #rs.align allows us to perform alignment of depth frames to others frames
26 #The "align_to" is the stream type to which we plan to align depth frames.
27 align_to =rs.stream.color28 align =rs.align(align_to)29
30
31 try:32 whileTrue:33 frames =pipeline.wait_for_frames()34
35 #Align the depth frame to color frame
36 aligned_frames =align.process(frames)37 #Get aligned frames
38 aligned_depth_frame = aligned_frames.get_depth_frame() #aligned_depth_frame is a 640x480 depth image
39 if notaligned_depth_frame:40 continue
41 depth_frame =np.asanyarray(aligned_depth_frame.get_data())42 #将深度图转化为伪彩色图方便观看
43 depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_frame, alpha=0.03), cv2.COLORMAP_JET)44 cv2.imshow(‘1 depth‘, depth_colormap)45
46 #color frames
47 color_frame =aligned_frames.get_color_frame()48 if notcolor_frame:49 continue
50 color_frame =np.asanyarray(color_frame.get_data())51 cv2.imshow(‘2 color‘, color_frame)52
53 #left frames
54 left_frame = frames.get_infrared_frame(1)55 if notleft_frame:56 continue
57 left_frame =np.asanyarray(left_frame.get_data())58 cv2.imshow(‘3 left_frame‘, left_frame)59
60 #right frames
61 right_frame = frames.get_infrared_frame(2)62 if notright_frame:63 continue
64 right_frame =np.asanyarray(right_frame.get_data())65 cv2.imshow(‘4 right_frame‘, right_frame)66
67 c = cv2.waitKey(1)68
69
70
71 #如果按下ESC则关闭窗口(ESC的ascii码为27)，同时跳出循环
72 if c == 27:73 cv2.destroyAllWindows()74 break
75
76 finally:77 #Stop streaming
78 pipeline.stop()79
80 #深度图上色参考https://github.com/IntelRealSense/librealsense/blob/jupyter/notebooks/distance_to_object.ipynb
81 #对齐参考：https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/align-depth2color.py
82 #左右图获取参考https://blog.csdn.net/Hanghang_/article/details/102489762
83 #其他参考https://blog.csdn.net/Dontla/article/details/102701680
