cfg.enable_stream(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F, 200); cfg.enable_stream(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F, 200); 1.2 验证程序 对IMU输出频率进行设置后,需要验证一下是否设置正确,这里写了一个验证程序。 基本的思路是,pipe的参数列表中可以增加一个回调,用以计数,主程序的...
# 导入必要的库 import pyrealsense2 as rs import numpy as np import cv2 # 配置视频流参数 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) # 启动...
encapsulating the actual device and sensorspipe=rs.pipeline()# Build config object and request pose datacfg=rs.config()cfg.enable_stream(rs.stream.pose)# Start streaming with requested configpipe.start(cfg)try:while(True):# Wait for the next set of frames from the cameraframes=pipe.wait_for...
cfg.enable_stream(rs.stream.color,640,480,rs.format.bgr8,30) out = cv2.VideoWriter(videoPath, fourcc, 30, (640, 480)) # 帧数为30 # L515相机开启参数 # Declare sensor object and set options # cfg.enable_stream(rs.stream.depth,640,480,rs.format.z16,30) # cfg.enable_stream(rs.strea...
config.enable_stream(rs.stream.color,640,480, rs.format.bgr8,30) profile = pipeline.start(config) depth_sensor = profile.get_device().first_depth_sensor() depth_scale = depth_sensor.get_depth_scale()print("Depth Scale is: ", depth_scale) ...
创建一个pipeline对象,用于管理相机设备的连接和数据流。 pipeline=rs.pipeline() 1. 配置pipeline,选择所需的数据流(例如彩色图像、深度图像等)。 config=rs.config()config.enable_stream(rs.stream.color,640,480,rs.format.bgr8,30) 1. 2. 启动pipeline,开始读取相机数据。
psm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, WIDTH, HEIGHT); sts = psm->Init(); if (sts != PXC_STATUS_NO_ERROR) { wprintf_s(L"Unabel to Initializes the pipeline\n"); return 2; } PXCImage *colorIm, *depthIm; PXCImage::ImageData depth_data,color_data; ...
在代码中,使用RealSense SDK提供的API来控制深度传感器。以下是一个示例代码片段,展示了如何关闭深度传感器: 代码语言:txt 复制 import pyrealsense2 as rs # 创建一个管道 pipeline = rs.pipeline() # 配置深度传感器 config = rs.config() config.enable_stream(rs.stream.depth, 0, 0, rs.format.z16...
config=rs.config()config.enable_device_from_file("your_file.bag")config.enable_stream(rs.stream...
ROS_INFO_STREAM("writing to serial port"<<msg->data); com.write(msg->data); } #ifdef T265_STATE_CAPTURE_ENABLE void t265_callback_internal(const geometry_msgs::PoseStamped::ConstPtr& msg) { ROS_INFO_STREAM("t265_callback_internal"); ...