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UPDATE Vision 修复深度图对齐彩色图

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This commit is contained in:
HJW
2024-12-19 11:30:56 +08:00
parent ca6b54dc8f
commit e516e2e287
3 changed files with 17 additions and 7 deletions
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5
Vision/tool/CameraPe_depth2color.py
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@ -80,6 +80,7 @@ class camera_pe():
# print('\t{} -size[{}x{}]\t-\t desc:{}'.format(idx, cl.Width(fmt), cl.Height(fmt), fmt.getDesc()))
self.cl.DeviceStreamFormatConfig(self.handle, PERCIPIO_STREAM_DEPTH, depth_fmt_list[2]) # 深度图大小
self.depth_calib_data = self.cl.DeviceReadCalibData(self.handle, PERCIPIO_STREAM_DEPTH)
self.color_calib_data = self.cl.DeviceReadCalibData(self.handle, PERCIPIO_STREAM_COLOR)
err = self.cl.DeviceLoadDefaultParameters(self.handle)
if err:
@ -124,7 +125,7 @@ class camera_pe():
:return: ret , img, point_map
'''
if self.caminit_isok == False or self.event.IsOffline():
return 0, None, None
return 0, None, None, None
else:
image_list = self.cl.DeviceStreamRead(self.handle, 2000)
if len(image_list) == 2:
@ -140,7 +141,7 @@ class camera_pe():
self.cl.DeviceStreamDepthRender(self.img_registration_depth, self.img_registration_render)
mat_depth_render = self.img_registration_render.as_nparray()
self.cl.DeviceStreamMapDepthImageToPoint3D(self.img_registration_depth, self.depth_calib_data, self.scale_unit,
self.cl.DeviceStreamMapDepthImageToPoint3D(self.img_registration_depth, self.color_calib_data, self.scale_unit,
self.pointcloud_data_arr)
p3d_nparray = self.pointcloud_data_arr.as_nparray()