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| from pyorbbecsdk import *
import numpy as np
import cv2
import os
import open3d as o3d
class Camera:
def __init__(self, width=1280, height=720,fps=15):
self.im_width = width
self.im_height = height
self.fps = fps
self.intrinsic = None
self.scale = None
def connect(self):
"""用于连接相机"""
self.pipeline = Pipeline()
config = Config()
profile_list = self.pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
color_profile = profile_list.get_default_video_stream_profile()
config.enable_stream(color_profile)
profile_list = self.pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
assert profile_list is not None
depth_profile = profile_list.get_default_video_stream_profile()
assert depth_profile is not None
print("color profile : {}x{}@{}_{}".format(color_profile.get_width(),
color_profile.get_height(),
color_profile.get_fps(),
color_profile.get_format()))
print("depth profile : {}x{}@{}_{}".format(depth_profile.get_width(),
depth_profile.get_height(),
depth_profile.get_fps(),
depth_profile.get_format()))
config.enable_stream(depth_profile)
config.set_align_mode(OBAlignMode.SW_MODE)
self.pipeline.enable_frame_sync()
self.pipeline.start(config)
self.intrinsic = self.get_intrinsic()
def disconnect(self):
"""用于断开相机"""
self.pipeline.stop()
def get_frame(self):
"""通过流来获取color frame和depth frame"""
while True:
frames: FrameSet = self.pipeline.wait_for_frames(200)
if frames is None:
continue
color_frame = frames.get_color_frame()
if color_frame is None:
continue
depth_frame = frames.get_depth_frame()
if depth_frame is None:
continue
if color_frame != None and depth_frame != None:
break
return color_frame, depth_frame
def frame2data(self, color_frame, depth_frame):
"""暂时没用"""
width = depth_frame.get_width()
height = depth_frame.get_height()
scale = depth_frame.get_depth_scale()
depth_data = np.frombuffer(depth_frame.get_data(), dtype=np.uint16)
depth_data = depth_data.reshape((height, width))
width = color_frame.get_width()
height = color_frame.get_height()
color_data = np.asanyarray(color_frame.get_data(), dtype=np.uint16)
return color_data.astype(np.float32), depth_data.astype(np.float32)
def get_data(self):
"""通过流来获取color data和depth data"""
self.connect()
color_frame, depth_frame = self.get_frame()
width = color_frame.get_width()
height = color_frame.get_height()
color_format = color_frame.get_format()
data = np.asanyarray(color_frame.get_data())
color_data = cv2.imdecode(data, cv2.IMREAD_COLOR)
color_data.astype(np.float32)
print('color_image.shape: ', color_data.shape)
width = depth_frame.get_width()
height = depth_frame.get_height()
scale = depth_frame.get_depth_scale()
print("===width: {}===".format(width))
print("===height: {}===".format(height))
print("===scale: {}===".format(scale))
save_dir = os.path.join(os.getcwd(), "real/intrinsic")
if not os.path.exists(save_dir):
os.mkdir(save_dir)
filename = save_dir + "/camera_depth_scale.txt"
save = np.array([scale])
np.savetxt(filename, save, delimiter=' ')
depth_data = np.frombuffer(depth_frame.get_data(), dtype=np.uint16)
depth_data = depth_data.reshape((height, width))
depth_data = depth_data.astype(np.float32) * scale
print('depth_image.shape: ', depth_data.shape)
depth_data = cv2.normalize(depth_data, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_16U)
self.disconnect()
return color_data, depth_data
def get_data_saved(self):
color_data, depth_data = self.get_data()
save_image_dir = os.path.join(os.getcwd(), "real/images")
if not os.path.exists(save_image_dir):
os.mkdir(save_image_dir)
depth_filename = save_image_dir + "/depth_{}x{}.png".format(depth_data.shape[0], depth_data.shape[1])
color_filename = save_image_dir + "/color_{}x{}.png".format(color_data.shape[0], color_data.shape[1])
cv2.imwrite(color_filename, color_data)
cv2.imwrite(depth_filename, depth_data)
return color_data, depth_data
def get_intrinsic(self):
"""获取内参"""
itsc = self.pipeline.get_camera_param()
raw_intrinsic = itsc.depth_intrinsic
intrinsic = np.array([raw_intrinsic.fx, 0, raw_intrinsic.cx,
0, raw_intrinsic.fy, raw_intrinsic.cy,
0, 0, 1]).reshape(3,3)
print("intrinsic: ", itsc)
print('depth intrinsic: ', raw_intrinsic)
print("intrinsic matrix", intrinsic)
save_dir = os.path.join(os.getcwd(), "real/intrinsic")
if not os.path.exists(save_dir):
os.mkdir(save_dir)
filename = save_dir + "/camera_itcs.txt"
np.savetxt(filename, intrinsic, delimiter=' ')
return intrinsic
def visualize(self):
"""显示rgbd图像"""
color_data, depth_data = self.get_data()
depth_image = cv2.normalize(depth_data, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U)
depth_image = cv2.applyColorMap(depth_image, cv2.COLORMAP_JET)
depth_image = cv2.addWeighted(color_data, 0.5, depth_image, 0.5, 0)
cv2.imshow("Depth with Color", depth_image)
cv2.waitKey(500)
if __name__ == '__main__':
camera = Camera()
camera.visualize()
color, depth = camera.get_data()
print("depth.shape: ", depth.shape)
|
