graduation-design/abandon_code/test.py
KYOSG 2e77f05678 1. 完成了对相机深度和色彩模式的整合
2. 旧代码转移到ababdan_code目录中
2024-03-01 10:57:41 +08:00

119 lines
4.7 KiB
Python

# ******************************************************************************
# Copyright (c) 2023 Orbbec 3D Technology, Inc
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http:# www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ******************************************************************************
from pyorbbecsdk import *
import cv2
import numpy as np
from utils import frame_to_bgr_image
import sys
import argparse
ESC_KEY = 27
def main(argv):
pipeline = Pipeline()
device = pipeline.get_device()
device_info = device.get_device_info()
device_pid = device_info.get_pid()
config = Config()
parser = argparse.ArgumentParser()
parser.add_argument("-m", "--mode",
help="align mode, HW=hardware mode,SW=software mode,NONE=disable align",
type=str, default='HW')
parser.add_argument("-s", "--enable_sync", help="enable sync", type=bool, default=True)
args = parser.parse_args()
align_mode = args.mode
enable_sync = args.enable_sync
try:
profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
color_profile = profile_list.get_default_video_stream_profile()
config.enable_stream(color_profile)
profile_list = 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)
except Exception as e:
print(e)
return
if align_mode == 'HW':
if device_pid == 0x066B:
# Femto Mega does not support hardware D2C, and it is changed to software D2C
config.set_align_mode(OBAlignMode.SW_MODE)
else:
config.set_align_mode(OBAlignMode.HW_MODE)
elif align_mode == 'SW':
config.set_align_mode(OBAlignMode.SW_MODE)
else:
config.set_align_mode(OBAlignMode.DISABLE)
if enable_sync:
try:
pipeline.enable_frame_sync()
except Exception as e:
print(e)
try:
pipeline.start(config)
except Exception as e:
print(e)
return
while True:
try:
frames: FrameSet = pipeline.wait_for_frames(100)
if frames is None:
continue
color_frame = frames.get_color_frame()
if color_frame is None:
continue
# covert to RGB format
color_image = frame_to_bgr_image(color_frame)
if color_image is None:
print("failed to convert frame to image")
continue
depth_frame = frames.get_depth_frame()
if depth_frame is None:
continue
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))
depth_data = depth_data.astype(np.float32) * scale
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)
# overlay color image on depth image
depth_image = cv2.addWeighted(color_image, 0.5, depth_image, 0.5, 0)
cv2.imshow("SyncAlignViewer ", depth_image)
key = cv2.waitKey(1)
if key == ord('q') or key == ESC_KEY:
break
except KeyboardInterrupt:
break
pipeline.stop()
if __name__ == "__main__":
main(sys.argv[1:])