英特尔Realsense相机捕获的RGB图像较暗使用python代码

编程问答 2022-06-04

问题描述

我正在使用下面的python代码通过Intel realsense（D 435i）相机拍摄RGB图像。 python代码捕获的图像较暗。但是，当我使用相机的SDK时，图像并不暗。如何以与相机SDK捕获的图像相同的质量拍摄图像？

谢谢您的帮助。

import pyrealsense2 as rs
import numpy as np
import cv2
import time
import math

pipeline = rs.pipeline()
config = rs.config()

config.enable_stream(rs.stream.depth,1280,720,rs.format.z16,30)
config.enable_stream(rs.stream.color,rs.format.bgr8,30)

profile = pipeline.start(config)
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()

# We will be removing the background of objects more than
#  clipping_distance_in_meters meters away
clipping_distance_in_meters = 1.5 
clipping_distance = clipping_distance_in_meters / depth_scale


align_to = rs.stream.color
align = rs.align(align_to)

frames = pipeline.wait_for_frames()

aligned_frames = align.process(frames)
aligned_depth_frame = aligned_frames.get_depth_frame()
color_frame = aligned_frames.get_color_frame()

depth_image = np.asanyarray(aligned_depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())


# Remove background - Set pixels further than clipping_distance to grey
grey_color = 153
depth_image_3d = np.dstack((depth_image,depth_image,depth_image)) #depth image is 1 channel,color is 3 channels
bg_removed = np.where((depth_image_3d > clipping_distance) | (depth_image_3d <= 0),grey_color,color_image)

# Render images
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image,alpha=0.03),cv2.COLORMAP_JET)
images = np.hstack((bg_removed,depth_colormap))
cv2.namedWindow('Align Example',cv2.WINDOW_AUTOSIZE)

# Filename 
path = 'C:/Users/aatefi2/Desktop/Intel real sense/Codes/'
imageName1 = str(time.strftime("%Y_%m_%d_%H_%M_%s")) +  '_Color.jpg'
imageName2 = str(time.strftime("%Y_%m_%d_%H_%M_%s")) +  '_Depth.jpg'
imageName3 = str(time.strftime("%Y_%m_%d_%H_%M_%s")) +  '_bg_removed.jpg'
imageName4 = str(time.strftime("%Y_%m_%d_%H_%M_%s")) +  '_ColorDepth.jpg'
imageName5 = str(time.strftime("%Y_%m_%d_%H_%M_%s")) +  '_DepthColormap.jpg'

# Saving the image 
cv2.imwrite(imageName1,color_image) 
cv2.imwrite(imageName2,depth_image) 
cv2.imwrite(imageName3,images) 
cv2.imwrite(imageName4,bg_removed )
cv2.imwrite(imageName5,depth_colormap )

key = cv2.waitKey(1)
# Press esc or 'q' to close the image window
cv2.destroyAllWindows()

pipeline.stop()

解决方法

我添加了以下代码来手动更改曝光时间（https://github.com/IntelRealSense/librealsense/issues/4449）。 （通过此手动设置捕获的图像）比通过自动曝光设置捕获的图像更亮。

# The code to set exposure time manually#

profile = pipeline.start(config)


# Get the sensor once at the beginning. (Sensor index: 1)
sensor = pipeline.get_active_profile().get_device().query_sensors()[1]


# Set the exposure anytime during the operation
sensor.set_option(rs.option.exposure,156.000)
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