#!/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()