诚信通网站怎么做外链,六安招聘网,用代码怎么做网站,眉山建网站背景#xff1a;Ubuntu18.04 ROS Melodic 已安装配置好RealSense相关程序#xff0c;链接D435i相机后#xff0c;得到如下Rostopic#xff1a;
/camera/color/image_raw # 彩色图像信息
/camera/depth/image_rect_raw # 深度图像信息
于是写一个python程序Ubuntu18.04 ROS Melodic 已安装配置好RealSense相关程序链接D435i相机后得到如下Rostopic
/camera/color/image_raw # 彩色图像信息
/camera/depth/image_rect_raw # 深度图像信息
于是写一个python程序
import rospy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
import numpy as np
import cv2
import time
import os
from imageio import imsavedef depth2Gray(im_depth):将深度图转至三通道8位灰度图(h, w, 3)# 16位转8位x_max np.max(im_depth)x_min np.min(im_depth)if x_max x_min:print(图像渲染出错 ...)raise EOFErrork 255 / (x_max - x_min)b 255 - k * x_maxret (im_depth * k b).astype(np.uint8)return retdef depth2RGB(im_depth):将深度图转至三通道8位彩色图先将值为0的点去除然后转换为彩图然后将值为0的点设为红色(h, w, 3)im_depth: 单位 mm或mim_depth depth2Gray(im_depth)im_color cv2.applyColorMap(im_depth, cv2.COLORMAP_JET)return im_colordef inpaint(img, missing_value0):Inpaint missing values in depth image.:param missing_value: Value to fill in teh depth image.img cv2.copyMakeBorder(img, 1, 1, 1, 1, cv2.BORDER_DEFAULT)mask (img missing_value).astype(np.uint8)scale np.abs(img).max()img img.astype(np.float32) / scale # Has to be float32, 64 not supported.img cv2.inpaint(img, mask, 1, cv2.INPAINT_NS)# Back to original size and value range.img img[1:-1, 1:-1]img img * scalereturn img def color_callback(color_msg):global color_imagecolor_image bridge.imgmsg_to_cv2(color_msg, desired_encodingbgr8)def depth_callback(depth_msg):global depth_imagedepth_image bridge.imgmsg_to_cv2(depth_msg, desired_encodingpassthrough)def run():rospy.init_node(realsense_capture_node)bridge CvBridge()color_sub rospy.Subscriber(/camera/color/image_raw, Image, color_callback)depth_sub rospy.Subscriber(/camera/depth/image_rect_raw, Image, depth_callback)# 创建保存图像的文件夹save_path os.path.join(os.getcwd(), data, time.strftime(%Y_%m_%d_%H_%M_%S, time.localtime()))os.makedirs(save_path)# 创建实时图像显示窗口cv2.namedWindow(live, cv2.WINDOW_AUTOSIZE)# cv2.namedWindow(save, cv2.WINDOW_AUTOSIZE)saved_count 0try:while not rospy.is_shutdown():# 在回调函数中接收图像数据这样我们就可以在主循环中使用它们if color_image is not None and depth_image is not None:color_image_copy color_image.copy()depth_image_copy depth_image.copy()# 可视化深度图像depth_image_copy inpaint(depth_image_copy)depth_image_color depth2RGB(depth_image_copy)# 调整彩色图像的大小以匹配深度图像的分辨率color_image_copy_resized cv2.resize(color_image_copy, (depth_image_color.shape[1], depth_image_color.shape[0]))cv2.imshow(live, np.hstack((color_image_copy_resized, depth_image_color)))key cv2.waitKey(30)# 按 s 键保存图像if key 0xFF ord(s):# 调整彩色图像的大小以匹配深度图像的分辨率color_image_copy_resized cv2.resize(color_image_copy, (depth_image_copy.shape[1], depth_image_copy.shape[0]))cv2.imwrite(os.path.join(save_path, {:04d}r.png.format(saved_count)), color_image_copy_resized)imsave(os.path.join(save_path, {:04d}d.tiff.format(saved_count)), depth_image_copy)saved_count 1cv2.imshow(live, np.hstack((color_image_copy_resized, depth_image_color)))# 原本是save# 按 q 键或按下 Esc 键退出程序if key 0xFF ord(q) or key 27:cv2.destroyAllWindows()breakexcept rospy.ROSInterruptException:passif __name__ __main__:color_image Nonedepth_image Nonebridge CvBridge()run()运行程序后会出现一个窗口里面有两个画面按下s键就会保存一套照片按下q键即退出
