generate pointclouds and draw it in python

[tguan]

# encoding:utf-8

import numpy as np

import cv2

import pyrealsense2 as rs

pipeline = rs.pipeline()

config = rs.config()

config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 30)

config.enable_stream(rs.stream.depth,640, 480, rs.format.z16, 30)

# 深度存储为每像素一个无符号 16 位整数，在摄像机特定单位中线性映射到深度

pipeline.start(config)

while True:

frames = pipeline.wait_for_frames()

color = frames.get_color_frame()

depth = frames.get_depth_frame()

if (not depth) or (not color):

print("Color or Depth not available!")

break

# color

color_img = np.asanyarray(color.get_data())

color_img = cv2.cvtColor(color_img, cv2.COLOR_BGR2RGB)

# depth

c = rs.colorizer()

colorized_depth = np.asanyarray(c.colorize(depth).get_data())

# pointclouds I HAVE PROBLEMS HERE??????

pc = rs.pointcloud()

points = pc.calculate(depth)

pc.map_to(color)

app_state.tex.upload(color) ?

draw_pointcloud(app, app_state, points) How to show the pointcloud?

cv2.imshow("color",color_img)

cv2.imshow("depth",colorized_depth)

if cv2.waitKey(1) & 0xFF == ord('q'):

breakpipeline.stop()

[AlHill]

Only one thread please. Stay with your other thread:

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