realsense testing script

ut-ras · Dec 22, 2022 · 747e3f0 · 747e3f0
1 parent 8109cd0
commit 747e3f0
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Showing 4 changed files with 15 additions and 15 deletions.
diff --git a/.opencv_viewer_example.py.swp b/.opencv_viewer_example.py.swp
diff --git a/object_detection.py b/object_detection.py
diff --git a/object_detection/__pycache__/__init__.cpython-39.pyc b/object_detection/__pycache__/__init__.cpython-39.pyc
diff --git a/opencv_viewer_example.py b/opencv_viewer_example.py
@@ -5,7 +5,7 @@
 ##      Open CV and Numpy integration        ##
 ###############################################
 
-import pyrealsense2 as rs
+import pyrealsense2.pyrealsense2 as rs
 import numpy as np
 import cv2
 
@@ -43,34 +43,34 @@
 
         # Wait for a coherent pair of frames: depth and color
         frames = pipeline.wait_for_frames()
-        depth_frame = frames.get_depth_frame()
+        #depth_frame = frames.get_depth_frame()
         color_frame = frames.get_color_frame()
-        if not depth_frame or not color_frame:
+        if not color_frame:
             continue
 
         # Convert images to numpy arrays
-        depth_image = np.asanyarray(depth_frame.get_data())
+        #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 = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
 
-        depth_colormap_dim = depth_colormap.shape
-        color_colormap_dim = color_image.shape
+        #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))
+        ## 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.imshow('RealSense', color_image)
         cv2.waitKey(1)
 
 finally:
 
     # Stop streaming
-    pipeline.stop()
+    pipeline.stop()