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toinsson / pyrealsense

Cross-platform ctypes/Cython wrapper to the librealsense library (v1.x)
http://pyrealsense.readthedocs.io
Apache License 2.0
121 stars 46 forks source link

Add YUVColorStream class #51

Closed papr closed 6 years ago

papr commented 7 years ago

Tags: Enhancement, Feature Request

I would like to have a YUV color stream class but I do not know the appropriate parameters (ndarray.dtype, ndarray.shape, etc) to read out the data from librealsense.

@toinsson Would you be so kind and add an appropriate YUVColorStream to streams.py?

toinsson commented 7 years ago

ah, thanks for the request : )

not sure how that would work though. Was looking around in rs.h, there is a RS_FORMAT_YUYV. However, I could not get it to work, unless I was passing the same info as with RGB. e.g:

    self.stream = rs_stream.RS_STREAM_COLOR
    self.format = rs_format.RS_FORMAT_YUYV
    self.shape = (height, width, 3)
    self.dtype = ctypes.c_uint8

which returns a stream exactly equivalent to RGB. There is some info about the formats: https://github.com/IntelRealSense/librealsense/blob/master/doc/supported_video_formats.pdf and a comment about YUYV. Maybe you could ask or post something on librealsense github page?

Another way would be to convert RGB to YUV with something like: cv2.cvtColor(c, cv2.COLOR_YUV2RGB)

papr commented 7 years ago

I am investigating this right now. I am creating a jupyter notebok that we can add to the examples later. I am actually able to get different data than RGB when using RS_FORMAT_YUYV but did not figure out the correct format yet.

Btw, would you mind writing me an email to the adress linked in my Github profile? I would like to open a communication channel that is not issue based. :)