机器学习和深度学习|RealSense D435 的开发日记(pyrealsense小实战项目）深度学习|python

欢迎来到机器学习的世界
博客主页：卿云阁
欢迎关注点赞收藏??留言
本文由卿云阁原创！
本阶段属于练气阶段，希望各位仙友顺利完成突破
首发时间：2021年6月22日
??希望可以和大家一起完成进阶之路！
作者水平很有限，如果发现错误，请留言轰炸哦！万分感谢！
6月22日星期三天气晴

文章图片

一、使用 OpenCV 和 Numpy 的帮助渲染深度和彩色图像

## License: Apache 2.0. See LICENSE file in root directory. ## Copyright(c) 2015-2017 Intel Corporation. All Rights Reserved.############################################### ##Open CV and Numpy integration## ###############################################import pyrealsense2 as rs import numpy as np import cv2# Configure depth and color streams pipeline = rs.pipeline() config = rs.config()# Get device product line for setting a supporting resolution pipeline_wrapper = rs.pipeline_wrapper(pipeline) pipeline_profile = config.resolve(pipeline_wrapper) device = pipeline_profile.get_device() device_product_line = str(device.get_info(rs.camera_info.product_line))found_rgb = False for s in device.sensors: if s.get_info(rs.camera_info.name) == 'RGB Camera': found_rgb = True break if not found_rgb: print("The demo requires Depth camera with Color sensor") exit(0)config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)if device_product_line == 'L500': config.enable_stream(rs.stream.color, 960, 540, rs.format.bgr8, 30) else: 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())# 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)depth_colormap_dim = depth_colormap.shape color_colormap_dim = color_image.shape# If depth and color resolutions are different, resize color image to match depth image for display if depth_colormap_dim != color_colormap_dim: resized_color_image = cv2.resize(color_image, dsize=(depth_colormap_dim[1], depth_colormap_dim[0]), interpolation=cv2.INTER_AREA) images = np.hstack((resized_color_image, depth_colormap)) else: images = np.hstack((color_image, depth_colormap))# Show images cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE) cv2.imshow('RealSense', images) cv2.waitKey(1)finally:# Stop streaming pipeline.stop()

文章图片

二、通过将深度图像与彩色图像对齐并执行简单计算以剥离背景来执行背景删除的方法
## License: Apache 2.0. See LICENSE file in root directory. ## Copyright(c) 2017 Intel Corporation. All Rights Reserved.##################################################### ##Align Depth to Color## ###################################################### First import the library import pyrealsense2 as rs # Import Numpy for easy array manipulation import numpy as np # Import OpenCV for easy image rendering import cv2# Create a pipeline pipeline = rs.pipeline()# Create a config and configure the pipeline to stream #different resolutions of color and depth streams config = rs.config()# Get device product line for setting a supporting resolution pipeline_wrapper = rs.pipeline_wrapper(pipeline) pipeline_profile = config.resolve(pipeline_wrapper) device = pipeline_profile.get_device() device_product_line = str(device.get_info(rs.camera_info.product_line))found_rgb = False for s in device.sensors: if s.get_info(rs.camera_info.name) == 'RGB Camera': found_rgb = True break if not found_rgb: print("The demo requires Depth camera with Color sensor") exit(0)config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)if device_product_line == 'L500': config.enable_stream(rs.stream.color, 960, 540, rs.format.bgr8, 30) else: 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 (see rs-align example for explanation) depth_sensor = profile.get_device().first_depth_sensor() depth_scale = depth_sensor.get_depth_scale() print("Depth Scale is: " , depth_scale)# We will be removing the background of objects more than #clipping_distance_in_meters meters away clipping_distance_in_meters = 1 #1 meter clipping_distance = clipping_distance_in_meters / depth_scale# Create an align object # rs.align allows us to perform alignment of depth frames to others frames # The "align_to" is the stream type to which we plan to align depth frames. align_to = rs.stream.color align = rs.align(align_to)# Streaming loop try: while True: # Get frameset of color and depth frames = pipeline.wait_for_frames() # frames.get_depth_frame() is a 640x360 depth image# Align the depth frame to color frame aligned_frames = align.process(frames)# Get aligned frames aligned_depth_frame = aligned_frames.get_depth_frame() # aligned_depth_frame is a 640x480 depth image color_frame = aligned_frames.get_color_frame()# Validate that both frames are valid if not aligned_depth_frame or not color_frame: continuedepth_image = np.asanyarray(aligned_depth_frame.get_data()) color_image = np.asanyarray(color_frame.get_data())# Remove background - Set pixels further than clipping_distance to grey grey_color = 153 depth_image_3d = np.dstack((depth_image,depth_image,depth_image)) #depth image is 1 channel, color is 3 channels bg_removed = np.where((depth_image_3d > clipping_distance) | (depth_image_3d <= 0), grey_color, color_image)# Render images: #depth align to color on left #depth on right depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET) images = np.hstack((bg_removed, depth_colormap))cv2.namedWindow('Align Example', cv2.WINDOW_NORMAL) cv2.imshow('Align Example', 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: pipeline.stop()

文章图片

三、使用多个摄像头计算物体的长度、宽度和高度的简单演示 【机器学习和深度学习|RealSense D435 的开发日记(pyrealsense小实战项目）】librealsense/wrappers/python/examples at master · IntelRealSense/librealsense (github.com)
文章图片
https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python/examples

机器学习和深度学习|RealSense D435 的开发日记(pyrealsense小实战项目）

推荐阅读

什么是职场？

百日练，一百天读一百本书，打卡第9天，《你只是看上去很努力》35分钟，理解50%，2000/分钟

空调主机跟遥控器显示温度不同步是怎么回事新科柜机空调不制冷调节温度显示不同步

等闲识得东风面中的东风是什么意思等闲识得东风面释义

redis 集合的底层实现 redis集合存bean

Java中关于Collections集合工具类的详细介绍

福州贵安水世界好玩吗 2023福州贵安水世界门票多少钱一张

蜗居背景音乐歌词蜗居背景音乐歌词翻译

甘肃所有大学名单甘肃省大学排名

雷殿生名字打分99分雷王姓取名

python|python 的生产者和消费者模式

quiet怎么读 quiet怎么造句

龙眼肉罐头做法新鲜的龙眼肉怎么做罐头

海藻面膜敷多长时间好

mysql my.cnf配置模板参考

苹果扣费怎么退 iPhone扣费怎么退款

你认为孤独的根源是什么？

减肥期间,有哪些做起来简单又好吃的减肥食谱？

创维55寸4k智能电视多少钱一台哪个电视牌子好

二甲双胍|糖尿病天天吃二甲双胍，请花5分钟弄清这6个注意事项，很重要