Realsense-python——获取RGB图、深度图并实现可视化和单点测距

本文采用的相机是Intel Realsense D435i。

对齐深度图和RGB图并可视化深度图

需要注意的是，采用该方法实现后，程序执行的帧率只有3帧/s，所以不推荐在实际使用该方法进行可视化。

depth_img_show.py

import pyrealsense2 as rs
import numpy as np
import cv2

def show_colorizer_depth_img():
    colorizer = rs.colorizer()
    hole_filling = rs.hole_filling_filter()
    filled_depth = hole_filling.process(depth_frame)
    colorized_depth = np.asanyarray(colorizer.colorize(filled_depth).get_data())
    cv2.imshow('filled depth',colorized_depth)


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)
    #深度图像向彩色对齐
    align_to_color=rs.align(rs.stream.color)
 
    try:
        while True:
            # Wait for a coherent pair of frames: depth and color
            frames = pipeline.wait_for_frames()
            
            frames = align_to_color.process(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())

            show_colorizer_depth_img()

            # Press esc or 'q' to close the image window
            key = cv2.waitKey(1)
            if key & 0xFF == ord('q') or key == 27:
                cv2.destroyAllWindows()
                break
    finally:
        # Stop streaming
        pipeline.stop()

获取某点的深度距离

该方法可以用来探测目标物体的距离。
depth_measure.py

import cv2
import numpy as np
import pyrealsense2 as rs
import time

def get_center_depth(depth):
    # Get the depth frame's dimensions
    width = depth.get_width()
    height = depth.get_height()

    center_x = int(width / 2)
    center_y = int(height / 2)

    print(width, " ", height)
    dis_center = round(depth.get_distance(center_x, center_y)*100, 2)
    print("The camera is facing an object ", dis_center, " cm away.")
    return dis_center, (center_x, center_y)

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)
    # Configure and start the pipeline
    pipeline.start(config)

    while True:
        start = time.time()
        # Block program until frames arrive
        frames = pipeline.wait_for_frames()

        # RGB image
        color_frame = frames.get_color_frame()
        color_image = np.asanyarray(color_frame.get_data())
        # depth image
        depth = frames.get_depth_frame()
        dis_center, center_coordinate = get_center_depth(depth)

        print("color_image:", color_image.shape)
        cv2.circle(color_image, center_coordinate, 5, (0,0,255), 0)
        cv2.imshow("color_image", color_image)
        
        print("FPS:", 1/(time.time()-start), "/s")

        # press Esc to stop
        k = cv2.waitKey(5) & 0xFF
        if k == 27:
            break

    cv2.destroyAllWindows()

参考文章：

• Intel Realsense C/C++ 转 python （1）rs-hello-realsense 获取摄像头正中心对应的深度数据 get_distance()
• 深度图像的可视化