I have been trying to calculate the distances of objects with values of R200 camera. I installed PyRealsense and librealsense(legacy). And examples of PyRealsense are working without any problem.
I have created a code for this purpose:
import pyrealsense as pyrs
from pyrealsense.constants import rs_option
depth_stream = pyrs.stream.DepthStream()
infrared_stream = pyrs.stream.InfraredStream()
with pyrs.Service() as serv:
with serv.Device(streams=(depth_stream, infrared_stream, )) as dev:
#dev.apply_ivcam_preset(0)
while True:
dev.wait_for_frames()
print(dev.infrared)
It returns a matrix that values changing with depending on the position of the object:
[37 37 39 ... 20 20 21]
[35 35 38 ... 17 18 19]
[34 33 37 ... 19 20 20]]
[[40 36 30 ... 16 15 17]
[40 37 28 ... 14 14 19]
[42 39 28 ... 14 16 20]
Which column of this matrix is represent distance value or what should I do to calculate the distance.
While searching on Google, I have found an example for calculatin distance with RealSense camera:
https://github.com/intel/intel-iot-refkit/blob/master/meta-refkit-extra/doc/computervision.rst
I had to edit it to make it work with PyRealSense 2.0:
#!/usr/bin/python3
import sys
import numpy as np
import cv2
import pyrealsense as pyrs
with pyrs.Service() as serv:
serv.start()
with serv.Device() as cam:
cat_cascade = cv2.CascadeClassifier("/usr/share/opencv/haarcascades/haarcascade_frontalcatface.xml")
for x in range(30):
# stabilize exposure
cam.wait_for_frames()
while True:
# get image from web cam
cam.wait_for_frames()
img = cam.color
cats = cat_cascade.detectMultiScale(img)
for (x,y,w,h) in cats:
# find center
cx = int(round(x+(w/2)))
cy = int(round(y+(h/2)))
depth = cam.depth[cy][cx]
print("Cat found, distance " + str(depth/10.0) + " cm")
It calculates distance when it shows a cat face. I have started to learn Tensorflow and my knowledge about OpenCV is poor. Can you explain me, what is the easiest way to port this code to TensorFlow or CAFFE.