51 lines
1.5 KiB
Python
51 lines
1.5 KiB
Python
import pyrealsense2 as rs
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import numpy as np
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import cv2
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def run_realsense():
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# 初始化RealSense
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pipeline = rs.pipeline()
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config = rs.config()
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config.enable_stream(rs.stream.depth, 848, 480, rs.format.z16, 30)
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config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
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# 启动相机
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profile = pipeline.start(config)
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try:
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while True:
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# 等待一帧
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frames = pipeline.wait_for_frames()
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# 对齐深度和彩色图
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align = rs.align(rs.stream.color)
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aligned_frames = align.process(frames)
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depth_frame = aligned_frames.get_depth_frame()
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color_frame = aligned_frames.get_color_frame()
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if not depth_frame or not color_frame:
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continue
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# 转 numpy
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depth_image = np.asanyarray(depth_frame.get_data())
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color_image = np.asanyarray(color_frame.get_data())
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# 深度图可视化（转为伪彩色）
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depth_colormap = cv2.convertScaleAbs(depth_image, alpha=0.03)
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depth_colormap = cv2.applyColorMap(depth_colormap, cv2.COLORMAP_JET)
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# 显示
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cv2.imshow("RGB Image", color_image)
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cv2.imshow("Depth Image", depth_colormap)
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# 按 q 退出
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if cv2.waitKey(1) & 0xFF == ord('q'):
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break
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finally:
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pipeline.stop()
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cv2.destroyAllWindows()
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if __name__ == "__main__":
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run_realsense() |