94 lines
2.8 KiB
Python
94 lines
2.8 KiB
Python
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import cv2
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import pykinect_azure as pykinect
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import matplotlib.pyplot as plt
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import numpy as np
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import pdb
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import os
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from matplotlib.colors import LinearSegmentedColormap,ListedColormap
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from matplotlib.animation import FuncAnimation, FFMpegWriter
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# Initialize the library, if the library is not found, add the library path as argument
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pykinect.initialize_libraries()
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# Modify camera configuration
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device_config = pykinect.default_configuration
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device_config.color_format = pykinect.K4A_IMAGE_FORMAT_COLOR_BGRA32
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device_config.color_resolution = pykinect.K4A_COLOR_RESOLUTION_720P
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device_config.depth_mode = pykinect.K4A_DEPTH_MODE_NFOV_2X2BINNED
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# Start device
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device = pykinect.start_device(config=device_config)
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# 创建一个自定义的 colormap
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colors = ['red', 'yellow', 'green', 'blue']
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# 自定义颜色
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colors = ['fuchsia', 'red', 'yellow', 'lime', 'cyan', 'blue',
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'fuchsia', 'red', 'yellow', 'lime', 'cyan', 'blue',
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'fuchsia', 'red', 'yellow', 'lime', 'cyan', 'blue',
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'fuchsia', 'red', 'yellow', 'lime', 'cyan', 'blue']
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mcmap = LinearSegmentedColormap.from_list("custom_cmap", colors)
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# 使用交互模式减少闪烁
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plt.ion()
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fig, ax = plt.subplots(figsize=(7, 7))
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cv2.namedWindow('Transformed color',cv2.WINDOW_NORMAL)
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framei = 0
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while True:
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# Get capture
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capture = device.update()
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# Get depth image
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depth_ret, depth = capture.get_depth_image()
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# Get the color image in the depth camera axis
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ret_color, color_image = capture.get_color_image()
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if not ret_color or not depth_ret:
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continue
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h,w,_ = color_image.shape
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depth[depth > 1100] = 0
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depth[depth < 500] = 0
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# depth = depth[50:200,50:210]
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# 背景图
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background = np.ones_like(depth) * 0.5 # 设定灰色背景
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# 使用 np.ma.masked_equal() 来屏蔽深度图中的零值。masked_array 中的值不会被绘制，从而避免了零值的显示。
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depth = np.ma.masked_equal(depth, 0)
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# 清除轴内容而不是整个图形
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ax.clear()
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# 绘制背景
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ax.imshow(background, origin='lower', cmap='gray', alpha=0.3)
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# 绘制白色栅格线，并将其置于底层
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ax.grid(True, which='both', axis='both', color='white', linestyle='-', linewidth=1, zorder=0)
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# 绘制等高线图并设置原点在左下角
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# 通过设置 zorder 来控制它们的层级。例如，设置 zorder=2 或更大的值来确保它们位于栅格线之上。
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ax.contourf(depth, levels=100, cmap=mcmap,vmin=500, vmax=1100,origin='upper',zorder=2)
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# 使用更高效的绘图更新方式
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plt.draw()
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plt.pause(0.001) # 极短暂停时间
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# 显示彩色图像
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cv2.imshow('Transformed color', color_image)
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# Press q key to stop
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if cv2.waitKey(1) == ord('q'):
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break
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cv2.destroyAllWindows()
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