Add example for realsense camera

dora-rs · Dec 6, 2024 · 7ae1f80 · 7ae1f80
1 parent f44745a
commit 7ae1f80
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Showing 4 changed files with 30 additions and 9 deletions.
diff --git a/examples/realsense/camera.yaml b/examples/realsense/camera.yaml
@@ -6,7 +6,7 @@ nodes:
       tick: dora/timer/millis/20
     outputs:
       - image
-      - depth_image
+      - depth
     env:
       IMAGE_WIDTH: 640
       IMAGE_HEIGHT: 480

diff --git a/examples/realsense/camera_rerun.yaml b/examples/realsense/camera_rerun.yaml
@@ -0,0 +1,20 @@
+nodes:
+  - id: camera
+    build: pip install -e ../../node-hub/dora-pyrealsense
+    path: dora-pyrealsense
+    inputs:
+      tick: dora/timer/millis/20
+    outputs:
+      - image
+      - depth
+    env:
+      IMAGE_WIDTH: 640
+      IMAGE_HEIGHT: 480
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      image: camera/image
+      world/camera/depth: camera/depth
+
diff --git a/node-hub/dora-pyrealsense/dora_pyrealsense/main.py b/node-hub/dora-pyrealsense/dora_pyrealsense/main.py
@@ -43,9 +43,9 @@ def main():
 
     depth_sensor = profile.get_device().first_depth_sensor()
     depth_scale = depth_sensor.get_depth_scale()
-    rgb_profile = profile.get_stream(rs.stream.color)
-    depth_profile = profile.get_stream(rs.stream.depth)
-    rgb_intr = rgb_profile.as_video_stream_profile().get_intrinsics()
+    # rgb_profile = profile.get_stream(rs.stream.color)
+    # depth_profile = profile.get_stream(rs.stream.depth)
+    # rgb_intr = rgb_profile.as_video_stream_profile().get_intrinsics()
     # rgb_intr = depth_profile.get_extrinsics_to(rgb_profile)
     node = Node()
     start_time = time.time()
@@ -110,9 +110,10 @@ def main():
                         continue
 
                 storage = pa.array(frame.ravel())
-                # metadata["resolution"] = [rgb_intr.width, rgb_intr.height]
-                # metadata["focal_length"] = [rgb_intr.fx, rgb_intr.fy]
-                # metadata["principal_point"] = [rgb_intr.ppx, rgb_intr.ppy]
+
+                # metadata["resolution"] = [int(rgb_intr.width), int(rgb_intr.height)]
+                # metadata["focal_length"] = [int(rgb_intr.fx), int(rgb_intr.fy)]
+                # metadata["principal_point"] = [int(rgb_intr.ppx), int(rgb_intr.ppy)]
                 node.send_output("image", storage, metadata)
                 node.send_output(
                     "depth", pa.array(scaled_depth_image.ravel()), metadata

diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs
@@ -164,12 +164,12 @@ pub fn lib_main() -> Result<()> {
                     .with_colormap(rerun::components::Colormap::Inferno);
 
                 rec.log(
-                    "world/camera",
+                    id.as_str().replace("/depth", ""),
                     &rerun::Pinhole::from_focal_length_and_resolution(&[605., 605.], &[640., 480.]),
                 )?;
 
                 // If we log a pinhole camera model, the depth gets automatically back-projected to 3D
-                rec.log("world/camera/depth", &depth_image)?;
+                rec.log(id.as_str(), &depth_image)?;
             } else if id.as_str().contains("text") {
                 let buffer: StringArray = data.to_data().into();
                 buffer.iter().try_for_each(|string| -> Result<()> {