realsense

RealSense RGB-D camera backend.

This module defines a RealSense RGB-D camera wrapper built on pyrealsense2. It provides synchronized color and depth acquisition, optional point-cloud and confidence-map generation, camera intrinsics access, and post-processing utilities such as depth alignment and hole filling. The implementation exposes RealSense devices through the shared robotblockset RGB-D camera interface for consistent use in perception and calibration pipelines.

Key functionalities include: - RealSense device integration via the RGBDCamera interface. - Configurable color/depth streaming resolution and frame rate. - Synchronized RGB, depth, and optional confidence-map acquisition. - Optional point-cloud generation from aligned depth and color data. - Camera intrinsics retrieval from active device stream profiles. - Depth post-processing support, including alignment and hole filling.

class robotblockset.cameras.realsense.Realsense(resolution: Tuple[int, int] = (1920, 1080), fps: int = 30, enable_depth: bool = True, enable_pointcloud: bool = True, enable_confidence_map: bool = False, enable_hole_filling: bool = True, serial_number: str | None = None)[source]

Bases: RGBDCamera

Wrapper around the pyrealsense2 library to use the RealSense cameras (tested for the D415 and D435).

Design decisions we made for this class: * Depth and color fps are the same * Depth resolution is automatically set * Depth frames are always aligned to color frames * Hole filling is enabled by default * Getting the confidence map is optional (disabled by default). The L515 supports a built-in confidence map, but the D415 and D435 do not. We do not support the L515 at this time.

Initialize a RealSense RGB-D camera wrapper.

Parameters:

  • resolution (CameraResolutionType, optional) – CameraResolutionType, default=RESOLUTION_1080 Color stream resolution (width, height) in pixels.

  • fps (int, optional) – int, default=30 Target frame rate for color and depth streams.

  • enable_depth (bool, optional) – bool, default=True Enable depth acquisition.

  • enable_pointcloud (bool, optional) – bool, default=True Enable point-cloud computation from depth and color.

  • enable_confidence_map (bool, optional) – bool, default=False Enable confidence map computation based on stereo infrared frames.

  • enable_hole_filling (bool, optional) – bool, default=True Enable RealSense hole-filling post-processing on depth frames.

  • serial_number (str, optional) – Device serial number. If omitted, the default device is used.

Raises:

  • ValueError – If point cloud or confidence map is enabled while depth is disabled.

  • RuntimeError – If pipeline startup fails due to invalid configuration or device issues.

RESOLUTION_1080 = (1920, 1080)
RESOLUTION_720 = (1280, 720)
RESOLUTION_540 = (960, 540)
RESOLUTION_480 = (848, 480)
__init__(resolution: Tuple[int, int] = (1920, 1080), fps: int = 30, enable_depth: bool = True, enable_pointcloud: bool = True, enable_confidence_map: bool = False, enable_hole_filling: bool = True, serial_number: str | None = None) → None[source]

Initialize a RealSense RGB-D camera wrapper.

Parameters:

  • resolution (CameraResolutionType, optional) – CameraResolutionType, default=RESOLUTION_1080 Color stream resolution (width, height) in pixels.

  • fps (int, optional) – int, default=30 Target frame rate for color and depth streams.

  • enable_depth (bool, optional) – bool, default=True Enable depth acquisition.

  • enable_pointcloud (bool, optional) – bool, default=True Enable point-cloud computation from depth and color.

  • enable_confidence_map (bool, optional) – bool, default=False Enable confidence map computation based on stereo infrared frames.

  • enable_hole_filling (bool, optional) – bool, default=True Enable RealSense hole-filling post-processing on depth frames.

  • serial_number (str, optional) – Device serial number. If omitted, the default device is used.

Raises:

  • ValueError – If point cloud or confidence map is enabled while depth is disabled.

  • RuntimeError – If pipeline startup fails due to invalid configuration or device issues.

property fps: int

Return the configured camera frame rate.

Returns:

Frame rate in frames per second.

Return type:

int

property resolution: Tuple[int, int]

Return the configured image resolution.

Returns:

Resolution (width, height) in pixels.

Return type:

CameraResolutionType

intrinsics_matrix() → ndarray[source]

Return the color camera intrinsics matrix.

Returns:

Camera matrix with shape (3, 3).

Return type:

CameraIntrinsicsMatrixType

Classes

Realsense([resolution, fps, enable_depth, ...])

Wrapper around the pyrealsense2 library to use the RealSense cameras (tested for the D415 and D435).