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realsense_cam.py
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realsense_cam.py
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# This script is part of the bachelor thesis
# "Localization of medical measurement data from injured persons for use in rescue robotics"
# from Konstantin Wenig written for the university to luebeck's bachelor degree in robotics and autonomous systems
# Redistribution and change without consent it not allowed
import numpy as np
try:
import pyrealsense2 as rs
except:
print("Could not find pyrealsense, only offline data available!")
class RealsenseCam:
def __init__(self):
# Configure depth and color streams
self.pipeline = rs.pipeline()
self.config = rs.config()
# Get device product line for setting a supporting resolution
self.pipeline_wrapper = rs.pipeline_wrapper(self.pipeline)
self.pipeline_profile = self.config.resolve(self.pipeline_wrapper)
self.device = self.pipeline_profile.get_device()
self.device_product_line = str(self.device.get_info(rs.camera_info.product_line))
# In case the script ever uses a different camera, check if the current
# camera is sufficient for this script
self.found_rgb = False
for s in self.device.sensors:
if s.get_info(rs.camera_info.name) == 'RGB Camera':
self.found_rgb = True
break
if not self.found_rgb:
print("This script requires a Depth camera with Color sensor")
exit(0)
# Enable stream for depth
self.config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
# Enable stream for color
if self.device_product_line == 'L500':
self.config.enable_stream(rs.stream.color, 960, 540, rs.format.bgr8, 30)
else:
self.config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
# Start streaming
self.pipeline.start(self.config)
def get_frame(self):
# Wait for a coherent pair of frames: depth and color
frames = self.pipeline.wait_for_frames()
depth_frame = frames.get_depth_frame()
color_frame = frames.get_color_frame()
if depth_frame and color_frame:
# Convert images to numpy arrays
depth_image = np.asanyarray(depth_frame.get_data()).copy()
color_image = np.asanyarray(color_frame.get_data()).copy()
return color_image, depth_image
def get_frame_size(self):
frame_x, frame_y = np.asanyarray(self.pipeline.wait_for_frames().get_color_frame().get_data()).shape
return frame_x, frame_y
def stop_pipeline(self):
self.pipeline.stop()