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RealsenseCamera

Inherits from: Camera No class docstring.

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Inherited methods

  • From Camera: getData, setCameraIntrinsics, getCameraSettings, setCameraSettings

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init

RealsenseCamera.__init__() -> None
No docstring provided.
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Returns
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returns
None

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init_camera

RealsenseCamera.init_camera() -> None
Initialize the RealSense camera
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Returns
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returns
None

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cleanup

RealsenseCamera.cleanup() -> None
Properly cleanup the camera resources
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Returns
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returns
None

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getImage

RealsenseCamera.getImage(image_type: str | None = None) -> Image
Get image from RealSense camera
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Arguments
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image_type (str | None)
str | None
type of image to retrieve (“rgb”, “depth”, “infrared”). Defaults to rgb.
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Returns
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Image
Image
requested image as numpy array

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getStereoImagePair

RealsenseCamera.getStereoImagePair() -> tuple
Get the left and right infrared images, which can be used for stereo vision.
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Returns
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returns
tuple

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getAllImages

RealsenseCamera.getAllImages() -> tuple
Get all images from RealSense camera (RGB, Depth, and IR), aligned to RGB
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Returns
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tuple
tuple
(rgb_image, depth_image, ir_image) as Images

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getCameraIntrinsics

RealsenseCamera.getCameraIntrinsics() -> dict
Get all camera intrinsic parameters, including the focal length and centerpoint, distortion_coefficients, distortion model, image size, etc.
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Returns
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dict
dict
camera intrinsics

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getCameraMatrix

RealsenseCamera.getCameraMatrix(image_type: str = None) -> np.ndarray
Get the camera matrix K as a numpy array of shape (3, 3) K = [[fx, 0, cx], [0, fy, cy], [0, 0, 1]]
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Arguments
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image_type (str)
str
str, Describes which camera sensor to get the matrix for. Valid values are: - “color” or “rgb” or None: the color camera (default) - “left” or “infrared”: the left infrared camera - “right”: the right infrared camera
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Returns
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np.ndarray
np.ndarray
camera matrix

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getDistortionCoefficients

RealsenseCamera.getDistortionCoefficients() -> np.ndarray
Get distortion coefficients as a numpy array of shape (5,)
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Returns
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np.ndarray
np.ndarray
distortion coefficients

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getExtrinsics

RealsenseCamera.getExtrinsics(source_image_frame: str, target_image_frame: str) -> np.ndarray
Get the transform of the target sensor frame with respect to the source sensor frame as a 4x4 homogeneous transformation matrix (np.ndarray) This transform transforms a 3D point (in meters) from the source frame to the target frame.
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Arguments
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source_image_frame (str)
str
required
the frame of the source sensor. Valid values are ‘color’, ‘rgb’, ‘left’, ‘right’
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target_image_frame (str)
str
required
the frame of the target sensor. Valid values are ‘color’, ‘rgb’, ‘left’, ‘right’
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Returns
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np.ndarray
np.ndarray
4x4 homogeneous transformation matrix