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i calculate the points from aligned depth image,and it is devided into pieces,but if i do not align the depth image to color,it seems to be good.
__author__ = '关彤'
#encoding:utf-8
#RGB-D图片和点云数据
import pyrealsense2 as rs
import numpy as np
import cv2
pc = rs.pointcloud()
points = rs.points()
# Create a pipelinett
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
profile = pipeline.start(config)
# Getting the depth sensor's depth scale
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth Scale is: " , depth_scale)
# 移除背景,设置阈值
clipping_distance_in_meters =1 #1 meter
clipping_distance = clipping_distance_in_meters / depth_scale
align_to = rs.stream.color
align = rs.align(align_to)
# Streaming loop(串流循环)
while True:
frames = pipeline.wait_for_frames() # Get frameset of color and depth
depth = frames.get_depth_frame()
color = frames.get_color_frame()
if (not depth) or (not color):
break
# Align the depth frame to color frame
aligned_frames = align.process(frames)
# Get aligned frames
depth_frame = aligned_frames.get_depth_frame() # aligned_depth_frame is a 640x480 depth image
depth_intrin = depth_frame.profile.as_video_stream_profile().intrinsics
color_frame = aligned_frames.get_color_frame()
# Validate that both frames are valid
if not depth_frame or not color_frame:
continue
#点云
# Tell pointcloud object to map to this color frame
#pc.map_to(color_frame)
# Generate the pointcloud and texture mapping
points = pc.calculate(depth_frame)
testpoints = pc.calculate(depth)
depth_image = np.asanyarray(depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
depth_image2 = np.where((depth_image > clipping_distance) | (depth_image <= 0), 0, depth_image)
depth_image2 = cv2.applyColorMap(cv2.convertScaleAbs(depth_image2, alpha=0.03), cv2.COLORMAP_BONE)#渲染图像depth_colormap
depth_image = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_BONE)
cv2.namedWindow('Align Example', cv2.WINDOW_AUTOSIZE)
cv2.imshow('Align Example', color_image)
cv2.imshow('Align Example2', depth_image2)
key=cv2.waitKey(1)
if key == ord('q'):
points.export_to_ply("point3.ply", color_frame)
testpoints.export_to_ply("point0.ply", depth)
break
pipeline.stop()
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Hello tguan,
Thank you for your interest in the Intel RealSense Technology.
Could you please let us know how your output looks like?
Thank you and best regards,
Eliza
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Hello tguan,
Could you please let us know if you require further assistance on this subject?
Thank you,
Eliza
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