Funciona todo sin modulo_imu

2026-05-21 09:51:42 -05:00
parent 026820f205
commit 19dc4bcf90
19 changed files with 1857 additions and 0 deletions
@@ -0,0 +1,29 @@
+import pyrealsense2 as rs
+import numpy as np
+
+class CamaraD415:
+    def __init__(self):
+        self.pipeline = rs.pipeline()
+        config = rs.config()
+        config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 15)
+        self.colorizer = rs.colorizer()
+        try:
+            self.pipeline.start(config)
+            print("✅ Cámara D415 Iniciada (Modo Video + Lidar)")
+        except Exception as e: print(f"❌ Error Cámara: {e}")
+
+    def obtener_datos(self):
+        try:
+            frames = self.pipeline.wait_for_frames(timeout_ms=1000)
+            depth_frame = frames.get_depth_frame()
+            if not depth_frame: return None, None
+            
+            depth_color_frame = self.colorizer.colorize(depth_frame)
+            imagen_video = np.asanyarray(depth_color_frame.get_data())
+            
+            profundidad_matriz = np.asanyarray(depth_frame.get_data())
+            fila_central = profundidad_matriz[240, :] * 0.001 
+            return fila_central, imagen_video
+        except: return None, None
+
+    def cerrar(self): self.pipeline.stop()