CAVE2/main3.py at main · Billccx/CAVE2 · GitHub

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import pyrealsense2 as rs
import os
import cv2
import time
import numpy as np
import mediapipe as mp
from cameras import Cameras,CameraIntrinsics
from graphs.pipeline3 import Pipeline3
from calculators.HandsYolo.handsDectYolo import HandsDectYolo


if __name__=='__main__':
    mp_drawing = mp.solutions.drawing_utils
    pipe = Pipeline3()
    cams = Cameras()
    cams.captureRGBandDepth(0)
    #cams.captureRGB(0)
    f_count=0
    t1=time.time()
    while (True):
        if f_count>30:
            t1=time.time()
            f_count=0
        f_count+=1
        #img = cams.getRGBFrame(0)
        img,depth=cams.getRGBandDepthFrame(0)

        img,screen = pipe.forward(img.colorframe,depthframe=depth,intrinsics=img.intrinsics)

        fps = f_count / (time.time() - t1)
        cv2.putText(img, "FPS: %.2f" % (fps), (int(20), int(40)), 0, 5e-3 * 200, (0, 255, 0), 3)

        cv2.imshow('img', img)
        if cv2.waitKey(5) & 0xFF == 27:
            break

        cv2.namedWindow("screen")
        cv2.moveWindow('screen', 700,500)
        cv2.imshow('screen', screen)

        if cv2.waitKey(5) & 0xFF == 27:
            break