pyrealsense2

LibrealsenseTM Python Bindings

Library for accessing Intel RealSenseTM cameras

Functions

adjust_2D_point_to_boundary(...)
is_pixel_in_line((curr: List[float[2]], ...)
log_to_console(...)
log_to_file(...)
next_pixel_in_line((curr: List[float[2]], ...)
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(...)
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
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
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
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
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
depth_stereo_sensor
device
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.
filter Define the filter workflow, inherit this class to generate your own filter.
filter_interface Interface for frame filtering functionality
fisheye_sensor
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
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
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
playback
playback_status
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_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
roi_sensor
rs400_advanced_mode
save_single_frameset
save_to_ply
sensor
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
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
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_profile Stream profile instance which contains additional video attributes.
wheel_odometer
yuy_decoder Converts frames in raw YUY format to RGB.
zero_order_invalidation Fixes the zero order artifact