用python写一个inter realsense D455骨骼识别代码
时间: 2023-04-06 17:04:37 浏览: 76
我可以回答这个问题。以下是一个示例代码:
```python
import pyrealsense2 as rs
import numpy as np
# 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)
# Create a pipeline for detecting skeletons
pipeline_skel = rs.pipeline()
config_skel = rs.config()
config_skel.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config_skel.enable_stream(rs.stream.infrared, 640, 480, rs.format.y8, 30)
config_skel.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
config_skel.enable_stream(rs.stream.pose, rs.format.motion_xyz32f, 30)
pipeline_skel.start(config_skel)
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())
# Detect skeletons
skel_frames = pipeline_skel.wait_for_frames()
pose_frame = skel_frames.get_pose_frame()
if pose_frame:
pose_data = pose_frame.get_pose_data()
print("Skeleton detected at position: ", pose_data.translation)
# Show images
cv2.imshow('Depth Image', depth_image)
cv2.imshow('Color Image', color_image)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
finally:
# Stop streaming
pipeline.stop()
pipeline_skel.stop()
cv2.destroyAllWindows()
```
这个代码使用了 Intel RealSense D455 摄像头来获取深度图像和彩色图像,并使用另一个 pipeline 来检测骨骼。如果检测到骨骼,它将打印出骨骼的位置。最后,它将显示深度图像和彩色图像,并等待用户按下 "q" 键退出程序。