intelD435摄像头python调用代码（深度图和彩色图）

#coding=utf-8
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)

# 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())

        # 将深度图转换成彩色图
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

        # 将彩色图和深度图叠加在一起
        #images = np.hstack((color_image, depth_colormap))
        #print(color_image)
        #print(depth_colormap)
        depth_image_3d = np.dstack((depth_image, depth_image, depth_image))
        
        # 原图
        cv2.namedWindow('color_image', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('color_image', color_image)
        # 深度图
        cv2.namedWindow('depth_colormap', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('depth_colormap', depth_image_3d)

        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()