pyrealsense2¶
LibrealsenseTM Python Bindings¶
Library for accessing Intel RealSenseTM cameras
Functions
adjust_2D_point_to_boundary (...) |
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is_pixel_in_line ((curr: List[float[2]], ...) |
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log_to_console (...) |
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log_to_file (...) |
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next_pixel_in_line ((curr: List[float[2]], ...) |
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rs2_deproject_pixel_to_point (...) |
Given pixel coordinates and depth in an image with no distortion or inverse distortion coefficients, compute the corresponding point in 3D space relative to the same camera |
rs2_fov (...) |
Calculate horizontal and vertical field of view, based on video intrinsics |
rs2_project_color_pixel_to_depth_pixel (...) |
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rs2_project_point_to_pixel (...) |
Given a point in 3D space, compute the corresponding pixel coordinates in an image with no distortion or forward distortion coefficients produced by the same camera |
rs2_transform_point_to_point (...) |
Transform 3D coordinates relative to one sensor to 3D coordinates relative to another viewpoint |
Classes
BufData |
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STAEControl |
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STAFactor |
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STCensusRadius |
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STColorControl |
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STColorCorrection |
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STDepthControlGroup |
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STDepthTableControl |
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STHdad |
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STRauColorThresholdsControl |
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STRauSupportVectorControl |
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STRsm |
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STSloColorThresholdsControl |
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STSloPenaltyControl |
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align |
Performs alignment between depth image and another image. |
auto_calibrated_device |
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camera_info |
This information is mainly available for camera debug and troubleshooting and should not be used in applications. |
color_sensor |
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colorizer |
Colorizer filter generates color images based on input depth frame |
composite_frame |
Extends the frame class with additional frameset related attributes and functions |
config |
The config allows pipeline users to request filters for the pipeline streams and device selection and configuration. |
context |
Librealsense context class. |
debug_protocol |
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decimation_filter |
Performs downsampling by using the median with specific kernel size. |
depth_frame |
Extends the video_frame class with additional depth related attributes and functions. |
depth_huffman_decoder |
Decompresses Huffman-encoded Depth frame to standartized Z16 format |
depth_sensor |
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depth_stereo_sensor |
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device |
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device_list |
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disparity_frame |
Extends the depth_frame class with additional disparity related attributes and functions. |
disparity_transform |
Converts from depth representation to disparity representation and vice - versa in depth frames |
distortion |
Distortion model: defines how pixel coordinates should be mapped to sensor coordinates. |
event_information |
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extension |
Specifies advanced interfaces (capabilities) objects may implement. |
extrinsics |
Cross-stream extrinsics: encodes the topology describing how the different devices are oriented. |
filter |
Define the filter workflow, inherit this class to generate your own filter. |
filter_interface |
Interface for frame filtering functionality |
fisheye_sensor |
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format |
A stream’s format identifies how binary data is encoded within a frame. |
frame |
Base class for multiple frame extensions |
frame_metadata_value |
Per-Frame-Metadata is the set of read-only properties that might be exposed for each individual frame. |
frame_queue |
Frame queues are the simplest cross-platform synchronization primitive provided by librealsense to help developers who are not using async APIs. |
frame_source |
The source used to generate frames, which is usually done by the low level driver for each sensor. |
hole_filling_filter |
The processing performed depends on the selected hole filling mode. |
intrinsics |
Video stream intrinsics. |
log_severity |
Severity of the librealsense logger. |
motion_device_intrinsic |
Motion device intrinsics: scale, bias, and variances. |
motion_frame |
Extends the frame class with additional motion related attributes and functions |
motion_sensor |
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motion_stream_profile |
Stream profile instance which contains IMU-specific intrinsics. |
notification |
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notification_category |
Category of the librealsense notification. |
option |
Defines general configuration controls. |
option_range |
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options |
Base class for options interface. |
pipeline |
The pipeline simplifies the user interaction with the device and computer vision processing modules. |
pipeline_profile |
The pipeline profile includes a device and a selection of active streams, with specific profiles. |
pipeline_wrapper |
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playback |
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playback_status |
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pointcloud |
Generates 3D point clouds based on a depth frame. |
points |
Extends the frame class with additional point cloud related attributes and functions. |
pose |
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pose_frame |
Extends the frame class with additional pose related attributes and functions. |
pose_sensor |
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pose_stream_profile |
Stream profile instance with an explicit pose extension type. |
processing_block |
Define the processing block workflow, inherit this class to generate your own processing_block. |
quaternion |
Quaternion used to represent rotation. |
recorder |
Records the given device and saves it to the given file as rosbag format. |
region_of_interest |
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roi_sensor |
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rs400_advanced_mode |
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save_single_frameset |
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save_to_ply |
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sensor |
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spatial_filter |
Spatial filter smooths the image by calculating frame with alpha and delta settings. |
stream |
Streams are different types of data provided by RealSense devices. |
stream_profile |
Stores details about the profile of a stream. |
syncer |
Sync instance to align frames from different streams |
temporal_filter |
Temporal filter smooths the image by calculating multiple frames with alpha and delta settings. |
texture_coordinate |
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threshold_filter |
Depth thresholding filter. |
timestamp_domain |
Specifies the clock in relation to which the frame timestamp was measured. |
tm2 |
The tm2 class is an interface for T2XX devices, such as T265. |
units_transform |
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updatable |
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update_device |
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vector |
3D vector in Euclidean coordinate space. |
vertex |
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video_frame |
Extends the frame class with additional video related attributes and functions. |
video_stream_profile |
Stream profile instance which contains additional video attributes. |
wheel_odometer |
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yuy_decoder |
Converts frames in raw YUY format to RGB. |
zero_order_invalidation |
Fixes the zero order artifact |