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pixel2world.py
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pixel2world.py
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import pyrealsense2 as rs
import numpy as np
import cv2
import time
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.rgb8, 30)
cfg = pipeline.start(config)
align = rs.align(rs.stream.color)
def get_aligned_images():
frames = pipeline.wait_for_frames()
aligned_frames = align.process(frames)
aligned_depth_frame = aligned_frames.get_depth_frame()
aligned_color_frame = aligned_frames.get_color_frame()
# 获取相机参数
depth_intrin = aligned_depth_frame.profile.as_video_stream_profile().intrinsics
color_intrin = aligned_color_frame.profile.as_video_stream_profile().intrinsics
img_color = np.asanyarray(aligned_color_frame.get_data())
img_depth = np.asanyarray(aligned_depth_frame.get_data())
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(img_depth, alpha=0.008), cv2.COLORMAP_JET)
return color_intrin, depth_intrin, img_color, img_depth, aligned_depth_frame
get_aligned_images()