IntelD435摄像头将深度图与摄像头进行像素对齐（并抽帧保存）

#coding=utf-8
import pyrealsense2 as rs
import numpy as np
import cv2
import os
# 创建一个管道
pipeline = rs.pipeline()

# Create a config并配置要流​​式传输的管道
# 颜色和深度流的不同分辨率
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)

# 开始流式传输
profile = pipeline.start(config)
# 获取深度传感器的深度标尺（参见rs - align示例进行说明）
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth Scale is: ", depth_scale)

# 创建对齐对象
# rs.align允许我们执行深度帧与其他帧的对齐
# “align_to”是我们计划对齐深度帧的流类型。
align_to = rs.stream.color
align = rs.align(align_to)
index = 0
color_path = 'color_img'
depth_path = 'depth_img'

# Streaming循环
try:
    while True:
        index += 1
        # 获取颜色和深度的框架集
        frames = pipeline.wait_for_frames()
        # frames.get_depth_frame（）是640x360深度图像

        # 将深度框与颜色框对齐
        aligned_frames = align.process(frames)

        # 获取对齐的帧
        aligned_depth_frame = aligned_frames.get_depth_frame()# aligned_depth_frame是640x480深度图像
        color_frame = aligned_frames.get_color_frame()

        # 验证两个帧是否有效
        if not aligned_depth_frame or not color_frame:
            continue

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

        # 转换深度图像为三通道
        depth_image_3d = np.dstack((depth_image, depth_image, depth_image))

        # 渲染图像
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image_3d, alpha=0.03), cv2.COLORMAP_JET)

        # 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_colormap)

        if index % 25 == 0:
            color = 'depth_' + str(index) + '.jpg'
            depth = 'depth_' + str(index) + '.jpg'
            cv2.imwrite(os.path.join(color_path, color), color_image)
            cv2.imwrite(os.path.join(depth_path, depth), depth_colormap)

        key = cv2.waitKey(1)
        if key & 0xFF == ord('q') or key == 27:
            cv2.destroyAllWindows()
            break
finally:
    pipeline.stop()