release repository

examples/isaac_sim/realsense_viewer.py

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+#
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+#
+
+# Third Party
+import cv2
+import numpy as np
+from nvblox_torch.datasets.realsense_dataset import RealsenseDataloader
+
+
+def view_realsense():
+    realsense_data = RealsenseDataloader(clipping_distance_m=1.0)
+    # Streaming loop
+    try:
+        while True:
+            data = realsense_data.get_raw_data()
+            depth_image = data[0]
+            color_image = data[1]
+            # Render images:
+            #   depth align to color on left
+            #   depth on right
+            depth_colormap = cv2.applyColorMap(
+                cv2.convertScaleAbs(depth_image, alpha=100), cv2.COLORMAP_JET
+            )
+            images = np.hstack((color_image, depth_colormap))
+
+            cv2.namedWindow("Align Example", cv2.WINDOW_NORMAL)
+            cv2.imshow("Align Example", images)
+            key = cv2.waitKey(1)
+            # Press esc or 'q' to close the image window
+            if key & 0xFF == ord("q") or key == 27:
+                cv2.destroyAllWindows()
+                break
+    finally:
+        realsense_data.stop_device()
+
+
+if __name__ == "__main__":
+    view_realsense()