增加新文件

show_video.py

+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())
+        print(color_image.shape)
+ 
+        # 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()
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