标签：d435 get cv2 det realsense imgs ubuntu frames import

ubuntu连接多个realsense d435

import pyrealsense2 as rs
import numpy as np
import cv2
import time
import datetime

import threading
from IPython import embed

#from worker import get_worker, get_ptx
from realsense_device_manager_old import DeviceManager
from depth_utils import get_depth, get_warner, save_img, warn_aloud
from usb_utils import get_usb_controller


CAM_ORDER = ['837212070531','818312070327'] 

ori_w =1280
ori_h = 720
fps = 15

det_w = 512
det_h = 320 # x%64==0
det_ratio_w = det_w / float(ori_w)
det_ratio_h = det_h / float(ori_h)
det_ratio = (det_ratio_w, det_ratio_h)

show_h = 288
show_w = 512

        
def main(debug, noangle):
    if noangle:
        SETCONFIGS = {
                '837212070531': None,
                '818312070327':None,
                }
    else:
        SETCONFIGS = {
                '837212070531': ('mid', 45),
                '818312070327':{'left',45},
                }                

    ## test save data
    test_data = []
    average_data = []

    # Configure depth and color streams
    config = rs.config()
    config.enable_stream(rs.stream.depth, ori_w, ori_h, rs.format.z16, fps)
    config.enable_stream(rs.stream.color, ori_w, ori_h, rs.format.bgr8, fps) 

    # Use the device manager class to enable the devices and get the frames
    device_manager = DeviceManager(rs.context(), config)
    device_manager.enable_all_devices()
    frames_dict_q = []

    def get_frames_process():
        tmp = device_manager.wait_frames()
        frames_dict_q.append(tmp)

    

    frames_dict_q.append(device_manager.wait_frames())
    try:
        cnt = 0
        while True:
            if cnt==0:
                ts = time.time()


            ###### batch to get boxes
            imgs = []
            ks = []
            box_dict = {}
            frames_dict = frames_dict_q.pop(0)
            for k,v in frames_dict.items():
                depth_image, color_image = v
                img = cv2.resize(color_image, \
                        (int(det_w), int(det_h)), \
                        interpolation=cv2.INTER_AREA)
                imgs.append(img)
                ks.append(k)

            # start process for get frames
            t = threading.Thread(target=get_frames_process)
            t.start()

            
            ###### get depth after boxes
            imgs = {} 
            txts = []
            is_warns = 0
            for k,v in frames_dict.items():
                depth_image, color_image = v
                
                img = cv2.resize(color_image, (show_w,show_h), \
                    interpolation=cv2.INTER_AREA)
                imgs[k] = img
                

            # Show images
            if len(imgs)==3:
                img1row = np.hstack((imgs[CAM_ORDER[0]], imgs[CAM_ORDER[2]]))
                img2row = np.hstack((imgs[CAM_ORDER[1]], np.zeros([show_h,show_w,3],dtype=np.uint8)))
                tot_img = np.concatenate([img1row, img2row])
            else:
                tot_img = np.concatenate([v for k,v in imgs.items()])
            cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
            cv2.imshow('RealSense', tot_img)
            cv2.waitKey(1)

            


    finally:
        # Stop streaming
        device_manager.disable_streams()
        cv2.destroyAllWindows()

if __name__=='__main__':
    import argparse
    parser = argparse.ArgumentParser()
    parser.add_argument('-d','--debug',action='store_true', default=False)
    parser.add_argument('-a','--noangle',action='store_true', default=False)
    args = parser.parse_args()
    main(args.debug, args.noangle)

标签：d435,get,cv2,det,realsense,imgs,ubuntu,frames,import
来源： https://www.cnblogs.com/herd/p/12077979.html

本站声明： 1. iCode9 技术分享网（下文简称本站）提供的所有内容，仅供技术学习、探讨和分享；
2. 关于本站的所有留言、评论、转载及引用，纯属内容发起人的个人观点，与本站观点和立场无关；
3. 关于本站的所有言论和文字，纯属内容发起人的个人观点，与本站观点和立场无关；
4. 本站文章均是网友提供，不完全保证技术分享内容的完整性、准确性、时效性、风险性和版权归属；如您发现该文章侵犯了您的权益，可联系我们第一时间进行删除；
5. 本站为非盈利性的个人网站，所有内容不会用来进行牟利，也不会利用任何形式的广告来间接获益，纯粹是为了广大技术爱好者提供技术内容和技术思想的分享性交流网站。