librealsense/wrappers/python/examples/opencv_viewer_example.py

https://github.com/IntelRealSense/librealsense/blob/development/wrappers/python/examples/opencv_viewer_example.py

## License: Apache 2.0. See LICENSE file in root directory.
## Copyright(c) 2015-2017 Intel Corporation. All Rights Reserved.

###############################################
##      Open CV and Numpy integration        ##
###############################################

import pyrealsense2 as rs
import numpy as np
import cv2

# Configure depth and color streams
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)

# Start streaming
pipeline.start(config)

try:
    while True:

        # Wait for a coherent pair of frames: depth and color
        frames = pipeline.wait_for_frames()
        depth_frame = frames.get_depth_frame()
        color_frame = frames.get_color_frame()
        if not depth_frame or not color_frame:
            continue

        # Convert images to numpy arrays
        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)

        # Stack both images horizontally
        images = np.hstack((color_image, depth_colormap))

        # Show images
        cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('RealSense', images)
        cv2.waitKey(1)

finally:

    # Stop streaming
    pipeline.stop()
/home/dwh/anaconda3/envs/egpo/bin/python3.7 /home/dwh/EGPO/training_script/train_cql.py Traceback (most recent call last): File "/home/dwh/EGPO/training_script/train_cql.py", line 5, in <module> from egpo_utils.cql.cql import CQLTrainer File "/home/dwh/EGPO/egpo_utils/cql/cql.py", line 5, in <module> from ray.rllib.agents.sac.sac import SACTrainer, \ File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/site-packages/ray/rllib/__init__.py", line 5, in <module> from ray.rllib.env.base_env import BaseEnv File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/site-packages/ray/rllib/env/__init__.py", line 1, in <module> from ray.rllib.env.base_env import BaseEnv File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/site-packages/ray/rllib/env/base_env.py", line 3, in <module> from ray.rllib.env.external_env import ExternalEnv File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/site-packages/ray/rllib/env/external_env.py", line 2, in <module> import gym File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/site-packages/gym/__init__.py", line 21, in <module> from gym import wrappers File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/site-packages/gym/wrappers/__init__.py", line 5, in <module> from gym.wrappers.atari_preprocessing import AtariPreprocessing File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/site-packages/gym/wrappers/atari_preprocessing.py", line 7, in <module> import cv2 File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/site-packages/cv2/__init__.py", line 181, in <module> bootstrap() File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/site-packages/cv2/__init__.py", line 175, in bootstrap if __load_extra_py_code_for_module("cv2", submodule, DEBUG): File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/site-packages/cv2/__init__.py", line 28, in __load_extra_py_code_for_module py_module = importlib.import_module(module_name) File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/importlib/__init__.py", line 127, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "/home/dwh/anaconda3/envs/egpo/lib/python3.7/site-packages/cv2/mat_wrapper/__init__.py", line 40, in <module> cv._registerMatType(Mat) AttributeError: module 'cv2' has no attribute '_registerMatType'
最新发布
04-03
egpo_a) (base) dwh@dwh:~/EGPO$ /home/dwh/anaconda3/envs/egpo_a/bin/python3.7 /home/dwh/EGPO/training_script/train_cql.py Traceback (most recent call last): File "/home/dwh/EGPO/training_script/train_cql.py", line 5, in <module> from egpo_utils.cql.cql import CQLTrainer File "/home/dwh/EGPO/egpo_utils/cql/cql.py", line 5, in <module> from ray.rllib.agents.sac.sac import SACTrainer, \ File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/site-packages/ray/rllib/__init__.py", line 5, in <module> from ray.rllib.env.base_env import BaseEnv File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/site-packages/ray/rllib/env/__init__.py", line 1, in <module> from ray.rllib.env.base_env import BaseEnv File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/site-packages/ray/rllib/env/base_env.py", line 3, in <module> from ray.rllib.env.external_env import ExternalEnv File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/site-packages/ray/rllib/env/external_env.py", line 2, in <module> import gym File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/site-packages/gym/__init__.py", line 21, in <module> from gym import wrappers File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/site-packages/gym/wrappers/__init__.py", line 5, in <module> from gym.wrappers.atari_preprocessing import AtariPreprocessing File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/site-packages/gym/wrappers/atari_preprocessing.py", line 7, in <module> import cv2 File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/site-packages/cv2/__init__.py", line 181, in <module> bootstrap() File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/site-packages/cv2/__init__.py", line 175, in bootstrap if __load_extra_py_code_for_module("cv2", submodule, DEBUG): File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/site-packages/cv2/__init__.py", line 28, in __load_extra_py_code_for_module py_module = importlib.import_module(module_name) File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/importlib/__init__.py", line 127, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "/home/dwh/anaconda3/envs/egpo_a/lib/python3.7/site-packages/cv2/mat_wrapper/__init__.py", line 40, in <module> cv._registerMatType(Mat) AttributeError: module 'cv2' has no attribute '_registerMatType'
04-02
/home/dwh/anaconda3/envs/egpo_env/bin/python3 /home/dwh/EGPO/training_script/train_cql.py Traceback (most recent call last): File "/home/dwh/EGPO/training_script/train_cql.py", line 5, in <module> from egpo_utils.cql.cql import CQLTrainer File "/home/dwh/EGPO/egpo_utils/cql/cql.py", line 5, in <module> from ray.rllib.agents.sac.sac import SACTrainer, \ File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/site-packages/ray/rllib/__init__.py", line 5, in <module> from ray.rllib.env.base_env import BaseEnv File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/site-packages/ray/rllib/env/__init__.py", line 1, in <module> from ray.rllib.env.base_env import BaseEnv File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/site-packages/ray/rllib/env/base_env.py", line 3, in <module> from ray.rllib.env.external_env import ExternalEnv File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/site-packages/ray/rllib/env/external_env.py", line 2, in <module> import gym File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/site-packages/gym/__init__.py", line 21, in <module> from gym import wrappers File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/site-packages/gym/wrappers/__init__.py", line 5, in <module> from gym.wrappers.atari_preprocessing import AtariPreprocessing File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/site-packages/gym/wrappers/atari_preprocessing.py", line 7, in <module> import cv2 File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/site-packages/cv2/__init__.py", line 181, in <module> bootstrap() File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/site-packages/cv2/__init__.py", line 175, in bootstrap if __load_extra_py_code_for_module("cv2", submodule, DEBUG): File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/site-packages/cv2/__init__.py", line 28, in __load_extra_py_code_for_module py_module = importlib.import_module(module_name) File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/importlib/__init__.py", line 127, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "/home/dwh/anaconda3/envs/egpo_env/lib/python3.7/site-packages/cv2/mat_wrapper/__init__.py", line 40, in <module> cv._registerMatType(Mat) AttributeError: module 'cv2' has no attribute '_registerMatType'
04-03
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