Initial commit

Divers/tutoriel39/realsense.py

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+import pyrealsense2 as rs
+import numpy as np
+import cv2
+
+lo=np.array([95, 100, 50])
+hi=np.array([105, 255, 255])
+color_infos=(0, 255, 255)
+
+pipeline=rs.pipeline()
+config=rs.config()
+
+config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 15)
+config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 15)
+
+align_to = rs.stream.color
+align = rs.align(align_to)
+
+pipeline.start(config)
+
+while True:
+
+    frames=pipeline.wait_for_frames()
+
+    aligned_frames = align.process(frames)
+    
+    depth_frame=aligned_frames.get_depth_frame()
+    color_frame=aligned_frames.get_color_frame()
+    
+    if not depth_frame or not color_frame:
+        continue
+
+    depth_image=np.array(depth_frame.get_data())
+    color_image=np.array(color_frame.get_data())
+    
+    depth_colormap=cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
+    
+    cv2.imshow('RealSense1', depth_colormap)
+
+    frame=color_image
+    image=cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
+    mask=cv2.inRange(image, lo, hi)
+    image=cv2.blur(image, (7, 7))
+    mask=cv2.erode(mask, None, iterations=4)
+    mask=cv2.dilate(mask, None, iterations=4)
+    image2=cv2.bitwise_and(frame, frame, mask=mask)
+    elements=cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
+    if len(elements) > 0:
+        c=max(elements, key=cv2.contourArea)
+        ((x, y), rayon)=cv2.minEnclosingCircle(c)
+        if rayon>30:
+            cv2.circle(image2, (int(x), int(y)), int(rayon), color_infos, 2)
+            cv2.circle(frame, (int(x), int(y)), 5, color_infos, 10)
+            cv2.line(frame, (int(x), int(y)), (int(x)+150, int(y)), color_infos, 2)
+            print(">>>", depth_colormap[int(y), int(x)])
+            dist=depth_frame.get_distance(int(x), int(y))
+            if dist<1:
+                msg="{:2.0f} cm".format(dist*100)
+            else:
+                msg="{:4.2f} m".format(dist)
+            cv2.putText(frame, msg, (int(x)+10, int(y) -10), cv2.FONT_HERSHEY_DUPLEX, 1, color_infos, 1, cv2.LINE_AA)
+    cv2.imshow('Camera', frame)
+    
+    key=cv2.waitKey(1)&0xFF
+    if key==ord('q'):
+        pipeline.stop()
+        quit()