stretch_tutorials/python/sensors.md

Working with Sensors

Realsense Cameras

Use the pyrealsense2 library to interact with the two Intel Realsense depth cameras on Stretch 3. The library can configure camera parameters, collect imagery, calculate point clouds, and much more. Start by creating a "pipeline", which is an interface for streaming data from the camera.

import pyrealsense2 as rs

cam = rs.pipeline()
cam.start()
cam.stop()

start() returns a "profile", which returns information about the Realsense camera.

profile = cam.start()
print(profile.get_device().get_info()) # "D435if"

Configuration

We pass a "config" to start() to choose which camera we want to stream from, what resolution the imagery should be, what frames per second the data should arrive at, and more.

config = rs.config()
config.enable_device(d405_info['serial_number'])
width, height, fps = 640, 480, 15
config.enable_stream(rs.stream.depth, width, height, rs.format.z16, fps)
config.enable_stream(rs.stream.color, width, height, rs.format.bgr8, fps)
profile = cam.start(config)

Frames

API and Docs

https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python#python-wrapper

https://intelrealsense.github.io/librealsense/python_docs/_generated/pyrealsense2.html