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# encoding:utf-8import 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(<span style="font-weight: inherit; font-style: i...
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Hi guantong
I looked at your code and I think I was able to find what you needed to add to export and show the point cloud. We do have examples included in the SDK relating to point clouds that might be useful to you! Here are the links to those:
Pointclouds in C++ https://github.com/IntelRealSense/librealsense/tree/master/examples/pointcloud librealsense/examples/pointcloud at master · IntelRealSense/librealsense · GitHub
Pointclouds in Python https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/export_ply_example.py librealsense/export_ply_example.py at master · IntelRealSense/librealsense · GitHub
The lines I have added to your code are in red below.
Please let me know if this worked for you!
Regards,
Intel Customer Support
________________________________________________________________________________________________________________________________________________________________________
# encoding:utf-8import 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
break
# color color_img = np.asanyarray(color.get_data())
color_img = cv2.cvtColor(color_img, cv2.COLOR_BGR2RGB)
<p style="font-family: intel-clear, arial, helvetica, 'helvetica neue', ve...Link Copied
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Hi guantong
I looked at your code and I think I was able to find what you needed to add to export and show the point cloud. We do have examples included in the SDK relating to point clouds that might be useful to you! Here are the links to those:
Pointclouds in C++ https://github.com/IntelRealSense/librealsense/tree/master/examples/pointcloud librealsense/examples/pointcloud at master · IntelRealSense/librealsense · GitHub
Pointclouds in Python https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/export_ply_example.py librealsense/export_ply_example.py at master · IntelRealSense/librealsense · GitHub
The lines I have added to your code are in red below.
Please let me know if this worked for you!
Regards,
Intel Customer Support
________________________________________________________________________________________________________________________________________________________________________
# encoding:utf-8import 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
break
# color color_img = np.asanyarray(color.get_data())
color_img = cv2.cvtColor(color_img, cv2.COLOR_BGR2RGB)
<p style="font-family: intel-clear, arial, helvetica, 'helvetica neue', ve...- Mark as New
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Hi Sahira_Intel,
I'm trying to read your answer to tguan, but for some reason the code appears to be incomplete. Is there a way to see the entire code?
Thanks in advance.
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I saw that a member of the Intel support team gave a reply earlier.
If you need another suggestion, I recommend this Python tutorial:
https://github.com/dorodnic/binder_test/blob/master/pointcloud.ipynb binder_test/pointcloud.ipynb at master · dorodnic/binder_test · GitHub
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So nice you are.
I read the tutorial you send me
i have a question about it :
from pyntcloud.pyntcloud import PyntCloud # open source library for 3D pointcloud visualisation
ModuleNotFoundError: No module named 'pyntcloud'
how was the module'pyntcloud' in python3?
i install it by pip but failed.
thank you very much
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The installation instructions for Pyntcloud are here:
http://pyntcloud.readthedocs.io/en/latest/installation.html Installation — pyntcloud 0.0.1 documentation
STEP ONE
Make sure that you have these requirements installed on your computer.
Python 3
numpy
numba
scipy
pandas
STEP TWO
When these requirements are installed, run them with these instructions:
conda env create -n pyntcloud python=3 numpy numba scipy pandas
source activate pyntcloud
STEP THREE
Finally, install Pyntcloud with this instruction:
pip install git+ https://github.com/daavoo/pyntcloud
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sorry,iI failed in running these instructions in step2 and 3
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Ok, I read the instructions again. I believe you only need to use the instructions that you had problems with if you are installing the requirements using a program called miniconda. If you have installed the list of programs yourself, then skip to the final instruction:
pip install git+ https://github.com/daavoo/pyntcloud
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