Kinect相机调用 python

原创于 2024-10-29 11:02:12 发布 · 252 阅读

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#数码相机 #python #开发语言

pip install pykinect_azure


import os
import cv2
import time
import pykinect_azure as pykinect
import numpy as np

from dlabsim import DLABSIM_ROOT_DIR
class k4a_driver:
    def __init__(self, model_path='/usr/lib/x86_64-linux-gnu/libk4a.so'):
        pykinect.initialize_libraries(model_path)
        self.device_config = pykinect.default_configuration
        self.device_config.camera_fps = pykinect.K4A_FRAMES_PER_SECOND_30
        self.device_config.color_resolution = pykinect.K4A_COLOR_RESOLUTION_1080P
        self.device_config.depth_mode = pykinect.K4A_DEPTH_MODE_WFOV_2X2BINNED
        self.depth_scale = [0.25, 1.]

        self.device = pykinect.start_device(config=self.device_config)

    def update(self):
        return self.device.update()

if __name__ == "__main__":
    k4a = k4a_driver()

    cv2.namedWindow("img")
    cv2.namedWindow("depth")

    while True:
        capture = k4a.update()
        ret_color, color_img = capture.get_color_image()
        ret_depth, depth_img = capture.get_transformed_depth_image()
        if not ret_color or not ret_depth or color_img is None or depth_img is None:
            continue
        cv2.imshow("img", color_img)

        depth_img_color = cv2.applyColorMap(cv2.convertScaleAbs(depth_img, alpha=0.255), cv2.COLORMAP_JET)
        cv2.imshow("depth", depth_img_color)

        key = cv2.waitKey(1000//30)
        if key == ord("q"):
            break
    cv2.destroyAllWindows()