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