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Add post calibration analysis tool #1335

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6c6d827
[perception] add depth_preset option
0wu Aug 9, 2022
07ae7df
[eyehandcal] Add jupyter notebook for post calibration analysis
0wu Aug 9, 2022
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26 changes: 25 additions & 1 deletion perception/realsense_driver/python/realsense_wrapper/realsense_d435.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
class RealsenseAPI:
"""Wrapper that implements boilerplate code for RealSense cameras"""

def __init__(self, height=480, width=640, fps=30, warm_start=60):
def __init__(self, height=480, width=640, fps=30, warm_start=60, depth_preset: str="Default"):
self.height = height
self.width = width
self.fps = fps
Expand All @@ -33,13 +33,37 @@ def __init__(self, height=480, width=640, fps=30, warm_start=60):
self.pipes.append(pipe)
self.profiles[device_id]=pipe.start(config)

if depth_preset:
depth_sensor=self.profiles[device_id].get_device().first_depth_sensor()
RealsenseAPI._set_visual_preset(depth_sensor, depth_preset)
print(f"Connected to camera {i+1} ({device_id}).")

self.align = rs.align(rs.stream.color)
# Warm start camera (realsense automatically adjusts brightness during initial frames)
for _ in range(warm_start):
self._get_frames()


@staticmethod
def _set_visual_preset(depth_sensor, preset_desc: str):
preset_option = None
options = []
for j in range(int(depth_sensor.get_option_range(rs.option.visual_preset).max)):
desc=depth_sensor.get_option_value_description(rs.option.visual_preset, j)
options.append(desc)
if preset_desc in desc:
preset_option = j
print(f'{preset_desc} preset is: {preset_option}')
break

if preset_option is None:
raise RuntimeWarning(f"{preset_desc} not available, please choose one from {options}")
else:
depth_sensor.set_option(rs.option.visual_preset, preset_option)




def _get_frames(self):
framesets = [pipe.wait_for_frames() for pipe in self.pipes]
return [self.align.process(frameset) for frameset in framesets]
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