How can I check the depth information of D410 received through rtps?

[gustn6591]

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Required Info
Camera Model	{ D410 }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	{Win (8.1/10) }
Kernel Version (Linux Only)
Platform	PC
SDK Version	{ legacy / 2.<?>.<?> }
Language	{python }
Segment	{Robot }

Issue Description

<Describe your issue / question / feature request / etc..>

cap_depth = cv2.VideoCapture("rtsp://192.168.1.10/depth", cv2.CAP_GSTREAMER) while(cap_depth.isOpened()): ret2, frame_depth = cap_depth.read() cv2.namedWindow('kinova_depth', cv2.WINDOW_AUTOSIZE) cv2.imshow('kinova_depth',frame_depth) if cv2.waitKey(20) & 0xFF == ord('q'): break cap_depth.release() cv2.destroyAllWindows()

Through the code above, we succeeded in forming a depthmap from the D410 attached to the kinova gen3 model. However, only gray pixel values are known from that map. I would like to know how to get distance information. Or I want to know how to connect the information of cap_depth = cv2.VideoCapture("rtsp://192.168.1.10/depth", cv2.CAP_GSTREAMER) to the pipeline of pyrealsense2.

Thank you cap_depth = cv2.VideoCapture("rtsp://192.168.1.10/depth", cv2.CAP_GSTREAMER) while(cap_depth.isOpened()): ret2, frame_depth = cap_depth.read() cv2.namedWindow('kinova_depth', cv2.WINDOW_AUTOSIZE) cv2.imshow('kinova_depth',frame_depth) if cv2.waitKey(20) & 0xFF == ord('q'): break cap_depth.release() cv2.destroyAllWindows()

Through the code above, we succeeded in forming a depthmap from the D410 attached to the kinova gen3 model. However, only gray pixel values are known from that map. I would like to know how to get distance information. Or I want to know how to connect the information of cap_depth = cv2.VideoCapture("rtsp://192.168.1.10/depth", cv2.CAP_GSTREAMER) to the pipeline of pyrealsense2.

Thank you

[MartyG-RealSense]

Hi @gustn6591 There are a few RealSense compatible plugins for GStreamer that are available.

C++ https://github.com/WKDSMRT/realsense-gstreamer

Python https://aivero.com/2020/03/10/gstreamer-elements-realsense-open-sourced/ https://gitlab.com/aivero/legacy/contrib/-/tree/master

Python and C++ https://github.com/johnny-wang16/rs-udpstreaming

If your depth map from the camera is monochrome then it sounds as though it is because pyrealsense2's colorizer is not applied to it in order to color-shade the coordinates according to their distance values. The RealSense SDK's opencv_pointcloud_viewer.py pyrealsense2 example demonstrates setting up a colorizer. The color shading is not based on the RGB sensor's color and so a colorizer will work on the RGB-less D410 depth module.

https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/opencv_pointcloud_viewer.py#L98

[gustn6591]

I apologize for the lack of explanation.

I got is not a depth map, just a 1D gray scale image How can I acquire depth information through an image obtained through rtsp? I want to know an example or pipeline for this method.

[MartyG-RealSense]

Another user of a Kinova arm at https://github.com/IntelRealSense/librealsense/issues/10662#issuecomment-1179378662 tried to access an RTSP stream in RealSense but gave up eventually, unfortunately.

You would probably have to convert OpenCV cv2 data to RealSense's rs2_frame format to obtain depth values. At https://github.com/IntelRealSense/librealsense/issues/2634#issuecomment-433904079 a RealSense team member provides a method of doing this with C++ but there is not an equivalent cv2 to rs2_frame demonstration script available for Python.

[gustn6591]

Is there a calculation method for estimating depth information through a 1D gray image in uint8 format?

[MartyG-RealSense]

The above question is outside of my OpenCV programming knowledge, but there is an example of a RealSense script at https://github.com/IntelRealSense/librealsense/issues/8150 of obtaining a depth value in meters for uint16_t that you could try adapting for uint8.

The depth scale value of a D410 will be 0.001

[gustn6591]

I was able to get a value similar to uint16 through (pixel/255)*65535, but a lot of errors occurred because I had already brought the value of uint8. The example shown in #8150 was an example of changing uint16 value to uint8, so I think it is different from the problem I am experiencing now.

In the process of streaming through rtsp, I think we need to find a way to get depth information of uint16.

[MartyG-RealSense]

A RealSense pyrealsense2 script at the link below for GStreamer and an RTSP server looks interesting.

https://github.com/thien94/vision_to_mavros/blob/master/scripts/d4xx_to_mavlink.py

[gustn6591]

Is there an example of a pipeline in pyrealsense2 that gets depth information from realsense connected via ethernet?

[MartyG-RealSense]

The RealSense SDK has a pyrealsense2 script called net-viewer.py that is used with the SDK's 'rs-server' ethernet RTSP network tool. The networking tool was removed from SDK 2.54.1 but I recovered the script code of net-viewer.py from the source code of 2.53.1.

It is planned that Intel will be introducing a new networking interface in the next SDK version after 2.54.1.

## License: Apache 2.0. See LICENSE file in root directory.
## Copyright(c) 2021 Intel Corporation. All Rights Reserved.

###############################################
##      Network viewer                       ##
###############################################

import sys
import numpy as np
import cv2
import pyrealsense2 as rs
import pyrealsense2_net as rsnet

if len(sys.argv) == 1:
    print( 'syntax: python net_viewer <server-ip-address>' )
    sys.exit(1)

ip = sys.argv[1]

ctx = rs.context()
print ('Connecting to ' + ip)
dev = rsnet.net_device(ip)
print ('Connected')
print ('Using device 0,', dev.get_info(rs.camera_info.name), ' Serial number: ', dev.get_info(rs.camera_info.serial_number))
dev.add_to(ctx)
pipeline = rs.pipeline(ctx)

# Start streaming
print ('Start streaming, press ESC to quit...')
pipeline.start()

try:
    while True:

        # Wait for a coherent pair of frames: depth and color
        frames = pipeline.wait_for_frames()
        depth_frame = frames.get_depth_frame()
        color_frame = frames.get_color_frame()
        if not depth_frame or not color_frame:
            continue

        # Convert images to numpy arrays
        depth_image = np.asanyarray(depth_frame.get_data())
        color_image = np.asanyarray(color_frame.get_data())

        # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

        depth_colormap_dim = depth_colormap.shape
        color_colormap_dim = color_image.shape

        # If depth and color resolutions are different, resize color image to match depth image for display
        if depth_colormap_dim != color_colormap_dim:
            resized_color_image = cv2.resize(color_image, dsize=(depth_colormap_dim[1], depth_colormap_dim[0]), interpolation=cv2.INTER_AREA)
            images = np.hstack((resized_color_image, depth_colormap))
        else:
            images = np.hstack((color_image, depth_colormap))

        # Show images
        cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('RealSense', images)
        k = cv2.waitKey(1) & 0xFF
        if k == 27:    # Escape
            cv2.destroyAllWindows()
            break

finally:
    # Stop streaming
    pipeline.stop()

print ("Finished")

[gustn6591]

Can't import pyrealsense2_net on windows 10?

Thanks for the nice examples. I am modifying that code to fit my development environment. But I can't find the pyrealsense2_net module. On the other hand, pyrealsense2 is importable.

[MartyG-RealSense]

As mentioned above at https://github.com/IntelRealSense/librealsense/issues/11993#issuecomment-1643563210 the networking tool was removed from SDK 2.54.1 and is planned to be replaced by a new networking interface in the next SDK release after 2.54.1. The existing networking tool should still be available in the previous SDK version 2.53.1.

[gustn6591]

Sorry, I checked and my pyrealsense version is 2.54.1. Thank you for your kind reply.

Downgrade the version and try.

[MartyG-RealSense]

Hi @gustn6591 Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.