realsense d435和python-pcl 的安装和调用

realsense d435

https://www.cnblogs.com/z1141000271/p/10554341.html

测试代码：

import pyrealsense2 as rs
import numpy as np
import cv2

if __name__ == "__main__":
    # Configure depth and color streams
    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)
    # Start streaming
    pipeline.start(config)
    try:
        while True:
            # Wait for a coherent pair of frames: depth and color
            frames = pipeline.wait_for_frames()
            depth_frame = frames.get_depth_frame()
            color_frame = frames.get_color_frame()
            if not depth_frame or not color_frame:
                continue
            # Convert images to numpy arrays

            depth_image = np.asanyarray(depth_frame.get_data())
            color_image = np.asanyarray(color_frame.get_data())

            # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
            depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

            # Stack both images horizontally
            images = np.hstack((color_image, depth_colormap))
            # Show images
            cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
            cv2.imshow('RealSense', images)
            key = cv2.waitKey(1)
            # Press esc or 'q' to close the image window
            if key & 0xFF == ord('q') or key == 27:
                cv2.destroyAllWindows()
                break
    finally:
        # Stop streaming
        pipeline.stop()

python-pcl：

如果是ubuntu16及以上版本，则使用以下命令
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-dev
https://blog.csdn.net/joker_hapy/article/details/85006818

ubuntu18.04 亲测可用，但是要注意路径问题。

https://github.com/strawlab/python-pcl

---

获取d435内参和保存图片，这里保存第100帧的图片，因为发现相机刚启动保存的RGB图片偏绿。采用了cv和scipy两种保存形式，各有优劣吧。

import pyrealsense2 as rs
import numpy as np
import cv2
import scipy.misc
import pcl

if __name__ == "__main__":
    # Configure depth and color streams
    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)
    # Start streaming
    pipeline.start(config)

    #获取图像
    for i in range(100):
        data = pipeline.wait_for_frames()

        depth = data.get_depth_frame()
        color = data.get_color_frame()


    # #获取内参
    # dprofile = depth.get_profile()
    # cprofile = color.get_profile()
    #
    # cvsprofile = rs.video_stream_profile(cprofile)
    # dvsprofile = rs.video_stream_profile(dprofile)
    #
    # color_intrin=cvsprofile.get_intrinsics()
    # print(color_intrin)
    # depth_intrin=dvsprofile.get_intrinsics()
    # print(color_intrin)
    # extrin = dprofile.get_extrinsics_to(cprofile)
    # print(extrin)

    depth_image = np.asanyarray(depth.get_data())
    color_image = np.asanyarray(color.get_data())

    # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
    depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

    # Stack both images horizontally
    images = np.hstack((color_image, depth_colormap))

    cv2.imwrite('color.png', color_image)
    cv2.imwrite('depth.png', depth_image)
    cv2.imwrite('depth_colorMAP.png', depth_colormap)

    scipy.misc.imsave('outfile1.png', depth_image)
    scipy.misc.imsave('outfile2.png', color_image)