Skip to content

Latest commit

 

History

History
77 lines (36 loc) · 1.8 KB

README.md

File metadata and controls

77 lines (36 loc) · 1.8 KB
Raw

Multiple Realsense(e.g. D435) Video Capture

(RGB, distance-clipped depth, aligned depth, left IR, right IR)

Installation

  • Please be sure to install Intel RealSense SDK.
  • Then, install python packages: 
    pip install -r requirements.txt

Usage

  • Check the config.yaml (you can change whenever you need).
  • Run the code: 
    python two-realsense.py --clip 2.0 --alpha 0.1  # for two camera devices 
# or 
python single-realsense.py --clip 2.0 --alpha 0.1 # for one camera device
  • Control by your keyboard
    • 'v' button - to record your video
    • 'SPACE' button - to save your video
    • 's' button - to save a sample image (you can customize it if you want)

Demo

  • Reference to align-depth2color.py for depth and color alignment & distance clipping.

  • For understanding how it works, run the demo code with single realsense camera:

    python demo.py

Notice

  • Saving point cloud in .ply

Reference

  1. https://www.meshlab.net/

  2. librealsense/pyglet_pointcloud_viewer.py

  3. Save pointcloud (RGB) without meshing #7747

  4. Aligning depth image (and pointcloud) to RGB image is slightly off in the vertical axis #5834

  5. Pointcloud, how remove background? #8170