Realsense D430 python pointclound，,来自：https:/

Realsense D430 python pointclound，,来自：https:/

来自：https://github.com/IntelRealSense/librealsense/issues/1231
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import pyrealsense2 as rspipeline = rs.pipeline()pipe_profile = pipeline.start()frames = pipeline.wait_for_frames()depth_frame = frames.get_depth_frame()color_frame = frames.get_color_frame()# Intrinsics & Extrinsicsdepth_intrin = depth_frame.profile.as_video_stream_profile().intrinsicscolor_intrin = color_frame.profile.as_video_stream_profile().intrinsicsdepth_to_color_extrin = depth_frame.profile.get_extrinsics_to(color_frame.profile)# Depth scale - units of the values inside a depth frame, i.e how to convert the value to units of 1 meterdepth_sensor = pipe_profile.get_device().first_depth_sensor()depth_scale = depth_sensor.get_depth_scale()# Map depth to colordepth_pixel = [240, 320]   # Random pixeldepth_point = rs.rs2_deproject_pixel_to_point(depth_intrin, depth_pixel, depth_scale)color_point = rs.rs2_transform_point_to_point(depth_to_color_extrin, depth_point)color_pixel = rs.rs2_project_point_to_pixel(color_intrin, color_point)pipeline.stop()

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pc = rs.pointcloud()frames = pipeline.wait_for_frames()depth = frames.get_depth_frame()color = frames.get_color_frame()img_color = np.asanyarray(color.get_data())img_depth = np.asanyarray(depth.get_data())pc.map_to(color)points = pc.calculate(depth)vtx = np.asanyarray(points.get_vertices())tex = np.asanyarray(points.get_texture_coordinates())npy_vtx = np.zeros((len(vtx), 3), float)for i in range(len(vtx)):    npy_vtx[i][0] = np.float(vtx[i][0])    npy_vtx[i][1] = np.float(vtx[i][1])    npy_vtx[i][2] = np.float(vtx[i][2])npy_tex = np.zeros((len(tex), 3), float)for i in range(len(tex)):    npy_tex[i][0] = np.float(tex[i][0])    npy_tex[i][1] = np.float(tex[i][1])

Realsense D430 python pointclound