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UPDATE Vision 图漾相机点云对齐，异常数据保存

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HJW
2024-10-14 16:32:20 +08:00
parent 2af2bff5e8
commit b88e1937ec
3 changed files with 58 additions and 33 deletions
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10
Vision/tool/CameraPe.py
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@ -156,15 +156,15 @@ class camera_pe():
if frame.streamID == PERCIPIO_STREAM_COLOR:
img_color = frame
# self.cl.DeviceStreamMapDepthImageToColorCoordinate(self.depth_calib, img_depth.width, img_depth.height,
# self.scale_unit, img_depth, self.color_calib, img_color.width,
# img_color.height, self.img_registration_depth)
#
self.cl.DeviceStreamMapDepthImageToColorCoordinate(self.depth_calib, img_depth.width, img_depth.height,
self.scale_unit, img_depth, self.color_calib, img_color.width,
img_color.height, self.img_registration_depth)
# self.cl.DeviceStreamDepthRender(self.img_registration_depth, self.img_registration_render)
# mat_depth_render = self.img_registration_render.as_nparray()
# cv2.imshow('registration', mat_depth_render)
self.cl.DeviceStreamMapDepthImageToPoint3D(img_depth, self.depth_calib, self.scale_unit,
self.cl.DeviceStreamMapDepthImageToPoint3D(self.img_registration_depth, self.depth_calib, self.scale_unit,
self.pointcloud_data_arr)
# show p3d arr data