pyrs

another Python wrapper for Intel Realsense camera

Dependencies:

OpenCV (cv2 for Python)
librealsense2 (pyrealsense2)
numpy

Hardware:

Tested on:

D415 / D435
SR300

Usage:

Demo:

To start the pyrs demo, run:

python pyrs.py

Commands:

p: save rgb and depth image
c: change camera presets
i: save camera intrinsics
q: quit loop

Code:

The recommended way is to use with statement and run a loop for each frames:

with PyRS() as pyrs:
  while True:
    # Wait for a coherent pair of frames: depth and color
    pyrs.update_frames()

    # Get images as numpy arrays
    color_image = pyrs.get_color_image()  # RGB
    depths_image = pyrs.get_depth_frame()  # Depth
    colorized_depths = pyrs.get_colorized_depth_frame()  # Colorized Depth (for rendering)

    # do something with the frame
    ...

But you can also use it normally by creating an instance:

pyrs = PyRS()

while True:
  pyrs.update_frames()
  ...

Samples:

Viewer:

RGB:

Depth:

(Filtered and upsampled with nearest neighbor interpolation)

TODO:

Make it possible to use multiple realsense device (device selection)
Customizable filter

haruishi43/pyrs