combine_images.py

import sys
import pyrealsense2 as rs
import numpy as np
import cv2


DIST = sys.argv[1]
RS = 'realsense_images/'
ZED = 'zed_images/'

color_image_rs = np.load(RS + f'color_{DIST}.npy')
depth_image_rs = np.load(RS + f'depth_{DIST}.npy')

color_image_rs = cv2.resize(color_image_rs, dsize=(640, 360), interpolation = cv2.INTER_AREA)
depth_image_rs = cv2.resize(depth_image_rs, dsize=(640, 360), interpolation = cv2.INTER_AREA)

color_image_zed = np.load(ZED + f'color_{DIST}.npy')[:, :, :3]
depth_image_zed = np.load(ZED + f'depth_{DIST}.npy')

color_image_zed = cv2.resize(color_image_zed, dsize=(640, 360), interpolation = cv2.INTER_AREA)
depth_image_zed = cv2.resize(depth_image_zed, dsize=(640, 360), interpolation = cv2.INTER_AREA)

# print(color_image_zed.shape)
# print(depth_image_zed.shape)
cv2.namedWindow("Depth Stream", cv2.WINDOW_NORMAL)

combined_rs = np.hstack((color_image_rs, depth_image_rs))
combined_zed = np.hstack((color_image_zed, depth_image_zed))
combined = np.vstack((combined_rs, combined_zed))
cv2.resizeWindow("Depth Stream", 1280, 720)
cv2.imwrite(f'comparisons/{DIST}.png', combined)

while True:
    cv2.imshow("Depth Stream", combined)

    key = cv2.waitKey(1)
    if key == 27 or key == 113:

        cv2.destroyAllWindows()
        break