Real Sense Plugin

Real Sense Plugin#

This guide provides information on how to use gvarealsense plugin for obtaining depth and RGB data from RealSense cameras. Plugin reads depth and RGB data from the Real Sense camera and provides it in a PCD format suitable for further processing in DL Streamer pipelines.

Note

Validated on Ubuntu 24.04 with kernel version >= 6.12 and Intel® Core™ Ultra Processors - series 2.

  1. Compilation

To compile the RealSense DL Streamer plugin, you need to have the following dependencies installed: - Intel RealSense SDK 2.0

Once you have the dependencies installed, to compile DL Streamer with the RealSense plugin, you need to enable the ENABLE_REALSENSE option in the CMake configuration. This can be done by setting the -DENABLE_REALSENSE=ON flag when running cmake (Advanced installation - compilation from source files).

For full installation procedure, please, refer to the Deep Learning Streamer Documentation.

  1. Usage example

Example pipeline for using the gvarealsense plugin:

gst-launch-1.0 gvarealsense camera=/dev/video0 ! queue ! fakesink dump=true

  1. Supported pcd (Point Cloud Data) formats:

    • ASCII

    • Binary (planned)

    • Compressed Binary (planned)

Example of PCD ASCII output format:

# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z
SIZE 4 4 4
TYPE F F F
COUNT 1 1 1
WIDTH 640
HEIGHT 480
VIEWPOINT 0 0 0 1 0 0 0
POINTS 307200
DATA ascii
0.2 0.1 0.3 105 106 117
...