pyrealsense2

LibrealsenseTM Python Bindings

Library for accessing Intel RealSenseTM cameras

Functions

enable_rolling_log_file(max_size)
log(severity, message)
log_to_callback(arg0, arg1)
log_to_console(min_severity)
log_to_file(min_severity, file_path)
option_from_string(arg0)
reset_logger()
rs2_deproject_pixel_to_point(intrin, pixel, ...)	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(intrin)	Calculate horizontal and vertical field of view, based on video intrinsics
rs2_project_color_pixel_to_depth_pixel(data, ...)	Given pixel coordinates of the color image and a minimum and maximum depth, compute the corresponding pixel coordinates in the depth image.
rs2_project_point_to_pixel(intrin, point)	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(extrin, from_point)	Transform 3D coordinates relative to one sensor to 3D coordinates relative to another viewpoint

Classes

BufData
STAEControl
STAFactor
STCensusRadius
STColorControl
STColorCorrection
STDepthControlGroup
STDepthTableControl
STHdad
STRauColorThresholdsControl
STRauSupportVectorControl
STRsm
STSloColorThresholdsControl
STSloPenaltyControl
align	Performs alignment between depth image and another image.
auto_calibrated_device
calib_target_type	Calibration target type.
calibration_change_device
calibration_config
calibration_roi
calibration_status	Calibration callback status for use in device_calibration.trigger_device_calibration
calibration_type	Calibration type for use in device_calibration
camera_info	This information is mainly available for camera debug and troubleshooting and should not be used in applications.
color_sensor
colorizer	Colorizer filter generates color images based on input depth frame
combined_motion	IMU combined GYRO & ACCEL data
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
debug_stream_sensor
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_sensor
depth_stereo_sensor
device
device_calibration
device_list
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
extension	Specifies advanced interfaces (capabilities) objects may implement.
extrinsics	Cross-stream extrinsics: encodes the topology describing how the different devices are oriented.
extrinsics_table
filter	Define the filter workflow, inherit this class to generate your own filter.
filter_interface	Interface for frame filtering functionality
firmware_log_message
firmware_log_parsed_message
firmware_logger
fisheye_sensor
float3
float3x3
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.
hdr_merge	Merges depth frames with different sequence ID
hole_filling_filter	The processing performed depends on the selected hole filling mode.
intrinsics	Video stream intrinsics.
l500_visual_preset	For L500 devices: provides optimized settings (presets) for specific types of usage.
log_message
log_severity	Severity of the librealsense logger.
matchers	Specifies types of different matchers.
max_usable_range_sensor
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
motion_stream	All the parameters required to define a motion stream.
motion_stream_profile	Stream profile instance which contains IMU-specific intrinsics.
notification
notification_category	Category of the librealsense notification.
option	Defines general configuration controls.
option_range
option_type	The different types option values can take on
option_value
options	Base class for options interface.
options_list
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
playback
playback_status	Members:
pointcloud	Generates 3D point clouds based on a depth frame.
points	Extends the frame class with additional point cloud related attributes and functions.
pose
pose_frame	Extends the frame class with additional pose related attributes and functions.
pose_sensor
pose_stream	All the parameters required to define a pose stream.
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.
product_line	Members:
quaternion	Quaternion used to represent rotation.
recorder	Records the given device and saves it to the given file as rosbag format.
region_of_interest
roi_sensor
rs400_advanced_mode
rs400_visual_preset	For D400 devices: provides optimized settings (presets) for specific types of usage.
save_single_frameset
save_to_ply
sensor
sequence_id_filter	Splits depth frames with different sequence ID
serializable_device
software_device
software_motion_frame	All the parameters required to define a motion frame.
software_notification	All the parameters required to define a sensor notification.
software_pose_frame	All the parameters required to define a pose frame.
software_sensor
software_video_frame	All the parameters required to define a video frame
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.
terminal_parser
texture_coordinate
threshold_filter	Depth thresholding filter.
timestamp_domain	Specifies the clock in relation to which the frame timestamp was measured.
units_transform
updatable
update_device
vector	3D vector in Euclidean coordinate space.
vertex
video_frame	Extends the frame class with additional video related attributes and functions.
video_stream	All the parameters required to define a video stream.
video_stream_profile	Stream profile instance which contains additional video attributes.
wheel_odometer
yuy_decoder	Converts frames in raw YUY format to RGB.