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https://github.com/real-stanford/pyrealsense
https://github.com/real-stanford/pyrealsense
Last synced: 2 days ago
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- Host: GitHub
- URL: https://github.com/real-stanford/pyrealsense
- Owner: real-stanford
- Created: 2020-08-28T14:28:23.000Z (about 4 years ago)
- Default Branch: master
- Last Pushed: 2021-01-25T21:50:23.000Z (almost 4 years ago)
- Last Synced: 2023-09-17T03:56:14.329Z (about 1 year ago)
- Language: C++
- Size: 24.4 KB
- Stars: 4
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# realsense
The latest version of our system uses RGB-D data captured from an [Intel® RealSense™ D415 Camera](https://click.intel.com/intelr-realsensetm-depth-camera-d415.html). We provide a lightweight C++ executable that streams data in real-time using [librealsense SDK 2.0](https://github.com/IntelRealSense/librealsense) via TCP. This enables you to connect the camera to an external computer and fetch RGB-D data remotely over the network while training. This can come in handy for many real robot setups. Of course, doing so is not required -- the entire system can also be run on the same computer.
#### Installation Instructions:
1. Download and install [librealsense SDK 2.0](https://github.com/IntelRealSense/librealsense)
2. Compile `realsense.cpp`:
```shell
cd realsense
mkdir build
cd build
cmake ..
make
```
Note: To enable verbose logging of device information, use `cmake -DLOG_INFO ..` instead.
#### To Run
1. Connect your RealSense camera with a USB 3.0 compliant cable (important: RealSense D400 series uses a USB-C cable, but still requires them to be 3.0 compliant to be able to stream RGB-D data).
To start the TCP server and RGB-D streaming, run the following:
```shell
./realsense
```
Optionally, pick your own port
```shell
./realsense 12345
```
Optionally, pick your own port and manual exposure
```shell
./realsense 12345 120
```
2. If there are multiple cameras, a prompt will print out their serial numbers and ask you to choose which device
```shell
Found 2 devices.
[0] 821212062745
[1] 805212060035
Pick one device:
```
In this case, for instance, you can choose `0` or `1`.
3. Keep the executable running, and test a python TCP client that fetches RGB-D data from the active TCP server, run the following:
```shell
python capture.py
```
4. You can change the camera parameter by changing the following lines in the ``realsense.cpp`` file:
```shell
int stream_width = 640;
int stream_height = 360;
int depth_disparity_shift = 25;
int stream_fps = 30;
```
Also change the following lines in the ``camera.py`` file to match the cpp file:
```shell
self.im_height = 720
self.im_width = 1280
self.tcp_host_ip = '127.0.0.1'
self.tcp_port = 50010
```
## NOTE: FIX FOR VERSIONS PRIOR TO V2.16 (V2.15 and earlier)
Change the below line:
```c
// Find and colorize the depth data
rs2::frame depth_colorized = color_map.colorize(aligned_depth);
```
to
```c
// Find and colorize the depth data
rs2::frame depth_colorized = color_map(aligned_depth);
```
## Dependencies
### Install GLFW
[GLFW](https://github.com/glfw/glfw) is required for capturing images. Check out [compiling guide](https://www.glfw.org/docs/latest/compile.html).
```bash
# Install dependencies for Ubuntu:
$ sudo apt install xorg-dev
```
```bash
# Compile and install GLFW
git clone [email protected]:glfw/glfw.git
cd glfw
mkdir build
cd build
cmake ..
make
sudo make install
```