chore: import upstream snapshot with attribution

2026-07-13 13:05:14 +08:00
commit 2a547be7fe
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+<!--[metadata]
+title = "Live depth sensor"
+tags = ["2D", "3D", "Live", "Depth", "RealSense"]
+thumbnail = "https://static.rerun.io/live_depth_sensor/d3c0392bebe2003d24110a779d6f6748167772d8/480w.png"
+thumbnail_dimensions = [480, 360]
+-->
+
+Visualize the live-streaming frames from an Intel RealSense depth sensor.
+
+<picture>
+  <source media="(max-width: 480px)" srcset="https://static.rerun.io/live_depth_sensor/d3c0392bebe2003d24110a779d6f6748167772d8/480w.png">
+  <source media="(max-width: 768px)" srcset="https://static.rerun.io/live_depth_sensor/d3c0392bebe2003d24110a779d6f6748167772d8/768w.png">
+  <source media="(max-width: 1024px)" srcset="https://static.rerun.io/live_depth_sensor/d3c0392bebe2003d24110a779d6f6748167772d8/1024w.png">
+  <source media="(max-width: 1200px)" srcset="https://static.rerun.io/live_depth_sensor/d3c0392bebe2003d24110a779d6f6748167772d8/1200w.png">
+  <img src="https://static.rerun.io/live_depth_sensor/d3c0392bebe2003d24110a779d6f6748167772d8/full.png" alt="Live Depth Sensor example screenshot">
+</picture>
+
+This example requires a connected realsense depth sensor.
+
+## Used Rerun types
+[`Pinhole`](https://www.rerun.io/docs/reference/types/archetypes/pinhole), [`Transform3D`](https://www.rerun.io/docs/reference/types/archetypes/transform3d), [`Image`](https://www.rerun.io/docs/reference/types/archetypes/image), [`DepthImage`](https://www.rerun.io/docs/reference/types/archetypes/depth_image)
+
+## Background
+The Intel RealSense depth sensor can stream live depth and color data. To visualize this data output, we utilized Rerun.
+
+## Logging and visualizing with Rerun
+
+The RealSense sensor captures data in both RGB and depth formats, which are logged using the [`Image`](https://www.rerun.io/docs/reference/types/archetypes/image) and [`DepthImage`](https://www.rerun.io/docs/reference/types/archetypes/depth_image) archetypes, respectively.
+Additionally, to provide a 3D view, the visualization includes a pinhole camera using the [`Pinhole`](https://www.rerun.io/docs/reference/types/archetypes/pinhole) and [`Transform3D`](https://www.rerun.io/docs/reference/types/archetypes/transform3d) archetypes.
+
+The visualization in this example were created with the following Rerun code.
+
+```python
+rr.log("realsense", rr.ViewCoordinates.RDF, static=True)  # Visualize the data as RDF
+```
+
+
+
+### Image
+
+First, the pinhole camera is set using the [`Pinhole`](https://www.rerun.io/docs/reference/types/archetypes/pinhole) and [`Transform3D`](https://www.rerun.io/docs/reference/types/archetypes/transform3d) archetypes. Then, the images captured by the RealSense sensor are logged as an [`Image`](https://www.rerun.io/docs/reference/types/archetypes/image) object, and they're associated with the time they were taken.
+
+
+
+```python
+rgb_from_depth = depth_profile.get_extrinsics_to(rgb_profile)
+rr.log(
+    "realsense/rgb",
+    rr.Transform3D(
+        translation=rgb_from_depth.translation,
+        mat3x3=np.reshape(rgb_from_depth.rotation, (3, 3)),
+        relation=rr.TransformRelation.ChildFromParent,
+    ),
+    static=True,
+)
+```
+
+```python
+rr.log(
+    "realsense/rgb/image",
+    rr.Pinhole(
+        resolution=[rgb_intr.width, rgb_intr.height],
+        focal_length=[rgb_intr.fx, rgb_intr.fy],
+        principal_point=[rgb_intr.ppx, rgb_intr.ppy],
+    ),
+    static=True,
+)
+```
+```python
+rr.set_time("frame_nr", sequence=frame_nr)
+rr.log("realsense/rgb/image", rr.Image(color_image))
+```
+
+### Depth image
+
+Just like the RGB images, the RealSense sensor also captures depth data. The depth images are logged as [`DepthImage`](https://www.rerun.io/docs/reference/types/archetypes/depth_image) objects and are linked with the time they were captured.
+
+```python
+rr.log(
+    "realsense/depth/image",
+    rr.Pinhole(
+        resolution=[depth_intr.width, depth_intr.height],
+        focal_length=[depth_intr.fx, depth_intr.fy],
+        principal_point=[depth_intr.ppx, depth_intr.ppy],
+    ),
+    static=True,
+)
+```
+```python
+rr.set_time("frame_nr", sequence=frame_nr)
+rr.log("realsense/depth/image", rr.DepthImage(depth_image, meter=1.0 / depth_units))
+```
+
+## Run the code
+To run this example, make sure you have the Rerun repository checked out and the latest SDK installed:
+```bash
+pip install --upgrade rerun-sdk  # install the latest Rerun SDK
+git clone git@github.com:rerun-io/rerun.git  # Clone the repository
+cd rerun
+git checkout latest  # Check out the commit matching the latest SDK release
+```
+Install the necessary libraries specified in the requirements file:
+```bash
+pip install -e examples/python/live_depth_sensor
+```
+To experiment with the provided example, simply execute the main Python script:
+```bash
+python -m live_depth_sensor # run the example
+```
+If you wish to customize it, explore additional features, or save it use the CLI with the `--help` option for guidance:
+```bash
+python -m live_depth_sensor --help
+```
@@ -0,0 +1,107 @@
+#!/usr/bin/env python3
+"""A minimal example of streaming frames live from an Intel RealSense depth sensor."""
+
+from __future__ import annotations
+
+import argparse
+
+import numpy as np
+import pyrealsense2 as rs
+
+import rerun as rr  # pip install rerun-sdk
+
+
+def run_realsense(num_frames: int | None) -> None:
+    # Visualize the data as RDF
+    rr.log("realsense", rr.ViewCoordinates.RDF, static=True)
+
+    # Open the pipe
+    pipe = rs.pipeline()
+    profile = pipe.start()
+
+    # We don't log the depth exstrinsics. We treat the "realsense" space as being at
+    # the origin of the depth sensor so that "realsense/depth" = Identity
+
+    # Get and log depth intrinsics
+    depth_profile = profile.get_stream(rs.stream.depth)
+    depth_intr = depth_profile.as_video_stream_profile().get_intrinsics()
+
+    rr.log(
+        "realsense/depth/image",
+        rr.Pinhole(
+            resolution=[depth_intr.width, depth_intr.height],
+            focal_length=[depth_intr.fx, depth_intr.fy],
+            principal_point=[depth_intr.ppx, depth_intr.ppy],
+        ),
+        static=True,
+    )
+
+    # Get and log color extrinsics
+    rgb_profile = profile.get_stream(rs.stream.color)
+
+    rgb_from_depth = depth_profile.get_extrinsics_to(rgb_profile)
+    rr.log(
+        "realsense/rgb",
+        rr.Transform3D(
+            translation=rgb_from_depth.translation,
+            mat3x3=np.reshape(rgb_from_depth.rotation, (3, 3)),
+            relation=rr.TransformRelation.ChildFromParent,
+        ),
+        static=True,
+    )
+
+    # Get and log color intrinsics
+    rgb_intr = rgb_profile.as_video_stream_profile().get_intrinsics()
+
+    rr.log(
+        "realsense/rgb/image",
+        rr.Pinhole(
+            resolution=[rgb_intr.width, rgb_intr.height],
+            focal_length=[rgb_intr.fx, rgb_intr.fy],
+            principal_point=[rgb_intr.ppx, rgb_intr.ppy],
+        ),
+        static=True,
+    )
+
+    # Read frames in a loop
+    frame_nr = 0
+    try:
+        while True:
+            if num_frames and frame_nr >= num_frames:
+                break
+
+            rr.set_time("frame_nr", sequence=frame_nr)
+            frame_nr += 1
+
+            frames = pipe.wait_for_frames()
+            for _f in frames:
+                # Log the depth frame
+                depth_frame = frames.get_depth_frame()
+                depth_units = depth_frame.get_units()
+                depth_image = np.asanyarray(depth_frame.get_data())
+                rr.log("realsense/depth/image", rr.DepthImage(depth_image, meter=1.0 / depth_units))
+
+                # Log the color frame
+                color_frame = frames.get_color_frame()
+                color_image = np.asanyarray(color_frame.get_data())
+                rr.log("realsense/rgb/image", rr.Image(color_image))
+    finally:
+        pipe.stop()
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Streams frames from a connected realsense depth sensor.")
+    parser.add_argument("--num-frames", type=int, default=None, help="The number of frames to log")
+
+    rr.script_add_args(parser)
+    args = parser.parse_args()
+
+    rr.script_setup(args, "rerun_example_live_depth_sensor")
+
+    run_realsense(args.num_frames)
+
+    rr.script_teardown(args)
+
+
+if __name__ == "__main__":
+    main()
@@ -0,0 +1,21 @@
+[project]
+name = "live_depth_sensor"
+version = "0.1.0"
+requires-python = "<3.11"
+readme = "README.md"
+dependencies = [
+  "numpy",
+  "pyrealsense2-mac; sys_platform == 'darwin'",
+  "pyrealsense2; sys_platform != 'darwin'",
+  "rerun-sdk",
+]
+
+[project.scripts]
+live_depth_sensor = "live_depth_sensor:main"
+
+[tool.rerun-example]
+skip = true # requires hardware
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"