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realsense_test.py
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realsense_test.py
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import pyrealsense2 as rs
import numpy as np
import cv2
import logging
import realsense_input_module as ri
# Get configs for the two streams
config_1 = ri.get_config()
# Get pipelines for the two streams
pipeline_1 = ri.get_pipeline()
# Enable SR300 stream
ri.enable_stream_sr300(config_1, 640, 480, 30)
# Start pipeline
pipeline_1.start(config_1)
try:
while True:
# Wait for a coherent pair of frames: depth and color
frames_sr300 = ri.get_frames(pipeline_1)
depth_frame = ri.get_depth_frames(frames_sr300)
color_frame = ri.get_color_frames(frames_sr300)
if not depth_frame or not color_frame:
continue
# Convert images to numpy arrays
depth_image = ri.convert_img_to_nparray(depth_frame)
color_image = ri.convert_img_to_nparray(color_frame)
# Apply colormap on depth image (image must be converted to 8-bit per pixel first)
depth_colormap = ri.get_depth_colormap(depth_image, 0.03)
# Stack both images horizontally
images = np.hstack((color_image, depth_colormap))
# Show images
ri.show_imgs('SR300', images, 1)
# Get pose data
finally:
# Stop streaming
pipeline_1.stop()