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#!/usr/bin/env python
import numpy as np
import sys
import cv2 as cv
def main():
# Open Orbbec depth sensor
orbbec_cap = cv.VideoCapture(0, cv.CAP_OBSENSOR)
if orbbec_cap.isOpened() == False:
sys.exit("Fail to open camera.")
while True:
# Grab data from the camera
if orbbec_cap.grab():
# RGB data
ret_bgr, bgr_image = orbbec_cap.retrieve(None, cv.CAP_OBSENSOR_BGR_IMAGE)
if ret_bgr:
cv.imshow("BGR", bgr_image)
# depth data
ret_depth, depth_map = orbbec_cap.retrieve(None, cv.CAP_OBSENSOR_DEPTH_MAP)
if ret_depth:
color_depth_map = cv.normalize(depth_map, None, 0, 255, cv.NORM_MINMAX, cv.CV_8UC1)
color_depth_map = cv.applyColorMap(color_depth_map, cv.COLORMAP_JET)
cv.imshow("DEPTH", color_depth_map)
else:
print("Fail to grab data from the camera.")
if cv.pollKey() >= 0:
break
orbbec_cap.release()
if __name__ == '__main__':
main()
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