camera_utils

This package cointains some computer vision operations, especially the camera hardware use.

Table of Contents

1. Description
2. Getting Started
   • Dependencies
   • Installation
3. Usage
   • Initialization
   • Available functions
4. License
5. Authors

Description

In this python library are collected some useful wrappers to use common RGB-D cameras (i.e., Intel Realsense, Zed) and TOF cameras (i.e., Helios2) in a simple and standard way. Also other functions are provided to perform simple perception.

Getting started

Dependencies

Most of the dependencies are automatically collected during the camera_utils package installation except for pyzed and arena_api which have to be installed following respectively the instruction in ZED SDK installation and Helios SDK installation.

Installation

To install the camera_utils package on your system, clone the Gitbub repository in a folder of your choice, open the cloned repositery path in a terminal and run the following command

python3 -m pip install .

If you want to install the package in "editable" or "develop" mode (to prevent the uninstall/install of the package at every pkg modification) you have can run the following command:

python3 -m pip install -e .

ZED SDK installation

To install ZED SDK follow the instructions in ZED SDK installation Readme.

Helios SDK installation

To install Helios SDK follow the instructions in Helios SDK installation Readme.

Usage

Initialization

Camera wrapper modules in the cameras folder inherit their structure from a single camera interface script. They can be imported using a standard python import:

from camera_utils.cameras.IntelRealsense import IntelRealsense
from camera_utils.cameras.Zed import Zed
from camera_utils.cameras.Helios import Helios

Then you can instanciate an object for the camera initialization (only Intel Realsense example will be provided but the idea is the same also for the other hardwares):

camera = IntelRealsense()

camera initialization can accept diffent parameters depending on what camera configuration you want to address:

camera = IntelRealsense(camera_resolution=IntelRealsense.Resolution.HD, fps=30, serial_number="")

available resolutions are: LOW, FullHD, HD, QHD(only for Zed). FPS depends on what your camera accept in input.
serail_number is necessary when you attach more than one camera to one computer so that the initilizer will be able to distinguish cameras.

Available functions

• camera.get_rgb() returns the rgb image in a numpy.array format (3 channels, 8 bits).
• camera.get_depth() returns the depth image in a numpy.array format (1 channels, 16 bits).
• camera.get_frames() returns both rgb and depth images in a numpy.array.
• camera.get_aligned_frames() returns both rgb and depth images aligned (if possible) in a numpy.array.
• camera.get_intrinsics() return a dictionary containing the intrinsic parameters of the camera (width, height, focal lengths, principal points).
• camera.get_pcd() return a pointcloud in open3d.geometry.PointCloud format.

License

Distributed under the GPLv3 License. See LICENSE for more information.

Authors

The package is provided by:

• Federico Rollo [Mantainer]
• Andrea Zunino
• Fabio Amadio