cameradevice.py 文件源码

def getDepth(self):
        """
        Return a median smoothed depth image
        :return: depth data as numpy array
        """

        if self.mirror:
            depth = dsc.getDepthMap()[:, ::-1]
        else:
            depth = dsc.getDepthMap()
        depth = cv2.medianBlur(depth, 3)
        return (numpy.count_nonzero(depth) != 0), numpy.asarray(depth, numpy.float32)