intelRealsense D435i python读取显示并保存彩图深度图和左右红外图

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用c搞了两天，我放弃了，python不香吗？有手就能学会
直接上源码:

import pyrealsense2 as rs
import numpy as np
import cv2

# 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)
config.enable_stream(rs.stream.infrared, 1, 640, 480, rs.format.y8, 30)
config.enable_stream(rs.stream.infrared, 2, 640, 480, rs.format.y8, 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()
        ir_frame_left = frames.get_infrared_frame(1)
        ir_frame_right = frames.get_infrared_frame(2)
        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())
        ir_left_image = np.asanyarray(ir_frame_left.get_data())
        ir_right_image = np.asanyarray(ir_frame_right.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
        images1 = np.hstack((color_image, depth_colormap))
        images2 = np.hstack((ir_left_image, ir_right_image))
        # Show images
        cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('RealSense', images1)
        cv2.imshow("Display pic_irt", images2)

        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()

保存

记录下自己的过程，有问题请交流:

import pyrealsense2 as rs
import numpy as np
import cv2
# import scipy.misc
import time


def get_image():
    # 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)
    config.enable_stream(rs.stream.infrared, 1, 640, 480, rs.format.y8, 30)
    config.enable_stream(rs.stream.infrared, 2, 640, 480, rs.format.y8, 30)

    # Start streaming
    pipeline.start(config)

    #获取图像，realsense刚启动的时候图像会有一些失真，我们保存第100帧图片。
    for i in range(100):
        data = pipeline.wait_for_frames()
        depth = data.get_depth_frame()
        color = data.get_color_frame()
        ir_left = data.get_infrared_frame(1)
        ir_right = data.get_infrared_frame(2)
    #获取内参
    dprofile = depth.get_profile()
    cprofile = color.get_profile()
    lprofile = ir_left.get_profile()
    rprofile = ir_right.get_profile()

    cvsprofile = rs.video_stream_profile(cprofile)
    dvsprofile = rs.video_stream_profile(dprofile)
    lvsprofile = rs.video_stream_profile(lprofile)
    rvsprofile = rs.video_stream_profile(rprofile)

    color_intrin=cvsprofile.get_intrinsics()
    print(color_intrin)
    depth_intrin=dvsprofile.get_intrinsics()
    print(depth_intrin)
    ir_left_intrin = lvsprofile.get_intrinsics()
    print(ir_left_intrin)
    ir_right_intrin = rvsprofile.get_intrinsics()
    print(ir_right_intrin)

    #外参
    # extrin = dprofile.get_extrinsics_to(cprofile)
    # print(extrin)
    extrin = lprofile.get_extrinsics_to(rprofile)
    print(extrin)

    depth_image = np.asanyarray(depth.get_data())
    color_image = np.asanyarray(color.get_data())
    ir_left_image = np.asanyarray(ir_left.get_data())
    ir_right_image = np.asanyarray(ir_right.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)

    # Show images
    images0 = np.hstack((ir_left_image, ir_right_image))
    cv2.imshow('images0', images0)
    # cv2.imshow('ir_left_image', ir_left_image)
    # cv2.imshow('ir_right_image', ir_right_image)
    cv2.waitKey(100)

    t = time.time()
    tname = str(t)[5:10]

    cv2.imwrite('ir_left_image' + str(tname) + '.png', ir_left_image)
    cv2.imwrite('ir_right_image' + str(tname) + '.png', ir_right_image)

    cv2.imwrite('color' + str(tname) + '.png', color_image)
    cv2.imwrite('depth' + str(tname) + '.png', depth_image)
    cv2.imwrite('depth_colorMAP' + str(tname) + '.png', depth_colormap)
    # scipy.misc.imsave('outfile1.png', depth_image)
    # scipy.misc.imsave('outfile2.png', color_image)
if __name__ == "__main__":
    get_image()

后面写入函数我是用时间戳做名字的，各位可以用自己喜欢的方式
结果实例

前五张分别是彩色深度、黑白深度、RGB图、左右红外。
第六张懒得裁了，见谅哈啊哈。