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

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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