系统：Windows10
设备：RealSense D435i
提前搭建好Python环境，安装pyrealsense2,numpy,opencv。
python-代码
# -*- coding: utf-8 -*- import pyrealsense2 as rs import numpy as np import cv2 ''' 设置 ''' pipeline = rs.pipeline() # 定义流程pipeline，创建管道 config = rs.config() # 定义配置config config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 15) # 配置depth流 config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 15) # 配置color流 # config.enable_stream(rs.stream.depth, 848, 480, rs.format.z16, 90) # config.enable_stream(rs.stream.color, 848, 480, rs.format.bgr8, 30) # config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30) # config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30) pipe_profile = pipeline.start(config) # streaming流开始 # 创建对齐对象和color流对齐 align_to = rs.stream.color # align_to 流类型计划对齐深帧 align = rs.align(align_to) # rs.align 执行深度帧与其他帧对齐 ''' 获取对齐图像帧和相机参数 ''' def get_aligned_images(): frames = pipeline.wait_for_frames() # 等待获取图像帧，获得颜色和深度的框架集 aligned_frames = align.process(frames) # 获取对齐帧，将深度框与颜色框对齐 aligned_depth_frame = aligned_frames.get_depth_frame() # 在对齐帧中获取depth帧 aligned_color_frame = aligned_frames.get_color_frame() # 在对齐帧中获取color帧 #### 获取相机参数 #### depth_intrin = aligned_depth_frame.profile.as_video_stream_profile().intrinsics # 获取深度参数(将使用像素坐标系转相机坐标系) color_intrin = aligned_color_frame.profile.as_video_stream_profile().intrinsics # 获取相机内参 #### 将images转为numpy arrays #### img_color = np.asanyarray(aligned_color_frame.get_data()) # RGB图 img_depth = np.asanyarray(aligned_depth_frame.get_data()) # 深度图(默认16位) return color_intrin, depth_intrin, img_color, img_depth, aligned_depth_frame ''' 获取随机点三维坐标 ''' def get_3d_camera_coordinate(depth_pixel, aligned_depth_frame, depth_intrin): x = depth_pixel[0] y = depth_pixel[1] dis = aligned_depth_frame.get_distance(x, y) # 获取像素点对应的深度 # print ('depth: ',dis) # 深度单位是m camera_coordinate = rs.rs2_deproject_pixel_to_point(depth_intrin, depth_pixel, dis) # print ('camera_coordinate: ',camera_coordinate) return dis, camera_coordinate if __name__ == "__main__": while True: ''' 获取对齐图像帧和相机参数 ''' color_intrin, depth_intrin, img_color, img_depth, aligned_depth_frame = get_aligned_images() # 获取对齐图像和相机参数 ''' 获取随机点三维坐标 ''' depth_pixel = [320, 240] # 设置随机点，以相机中心点为例 dis, camera_coordinate = get_3d_camera_coordinate(depth_pixel, aligned_depth_frame, depth_intrin) print('depth: ', dis) # 深度单位是mm print('camera_coordinate: ', camera_coordinate) ''' 显示图像和标记 ''' #### 在图中标记随机点和坐标 #### cv2.circle(img_color, (320, 240), 8, [255, 0, 255], thickness=-1) cv2.putText(img_color, "Dis:" str(dis) " m", (40, 40), cv2.FONT_HERSHEY_SIMPLEX, 1.2, [0, 0, 255]) cv2.putText(img_color, "X:" str(camera_coordinate[0]) " m", (80, 80), cv2.FONT_HERSHEY_SIMPLEX, 1.2, [255, 0, 0]) cv2.putText(img_color, "Y:" str(camera_coordinate[1]) " m", (80, 120), cv2.FONT_HERSHEY_SIMPLEX, 1.2, [255, 0, 0]) cv2.putText(img_color, "Z:" str(camera_coordinate[2]) " m", (80, 160), cv2.FONT_HERSHEY_SIMPLEX, 1.2, [255, 0, 0]) #### 显示画面 #### cv2.imshow('RealSence', img_color) key = cv2.waitKey(1) 运行结果：
