pyrealsense2

Librealsense Python Bindings

Library for accessing RealSense cameras

Functions

enable_metadata()	Enable per-frame metadata at OS level for connected D400/D500 devices.
enable_rolling_log_file(max_size)
log(severity, message)
log_to_callback(min_severity, callback[, ...])
log_to_console(min_severity)
log_to_file(min_severity, file_path)
m420_converter(target_format)
nv12_converter(target_format)
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
supports_eth_config(device)	Check if device supports ethernet configuration
uyvy_converter(target_format)
yuy2_converter(target_format)

Classes

BufData
STAEControl
STAFactor
STAdvancedModeControls
STCensusRadius
STColorControl
STColorCorrection
STDepthControlGroup
STDepthTableControl
STHdad
STRauColorThresholdsControl
STRauSupportVectorControl
STRsm
STSloColorThresholdsControl
STSloPenaltyControl
align	Performs alignment between depth image and another image.
auto_calibrated_device
calib_location	Calib Location
calib_target_type	Calibration target type.
calibration_change_device
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
colored_ir_auto_exposure_mode	For colored-IR devices: how auto exposure is arbitrated between the color and depth pipelines
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
composite_option_id	Identifies a composite (multi-field, atomically-exchanged) control - a completely separate identity space from rs2_option.
config	The config allows pipeline users to request filters for the pipeline streams and device selection and configuration.
context	Librealsense context class.
d500_intercam_sync_mode	For D500: intercamera synchronization mode
debug_protocol
debug_stream_sensor
decimation_filter	Performs downsampling by using the median with specific kernel size.
decimation_filter_dpp_config	Decimation Filter DPP composite option payload - see rs_decimation_filter_dpp.h.
decimation_filter_dpp_range	Supported {min,max,step,default} bounds for decimation_filter_dpp_config - see rs_decimation_filter_dpp.h.
depth_frame	Extends the video_frame class with additional depth related attributes and functions.
depth_sensor
depth_stereo_sensor
device
device_calibration
device_hub	Encapsulates connect/disconnect handling and waiting for devices.
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.
dpp_header	Wire header shared by the HKR DPP composite-option control family - see rs_dpp_header.h.
embedded_decimation_filter	Define the embedded decimation filter workflow.
embedded_filter	Define the embedded filter workflow.
embedded_filter_type	Embedded Filter Type
embedded_temporal_filter	Define the embedded temporal filter workflow.
emitter_mode	Values for the emitter mode option
eth_config_device	Ethernet configuration extension for devices that support ethernet configuration
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
firmware_log_message
firmware_log_parsed_message
firmware_logger
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.
gpu_frame	Extends the frame class for a GPU-resident (zero-copy) frame on integrated-GPU CUDA builds.
hdr_merge	Merges depth frames with different sequence ID
hdrd_control	Improved Close Range Control composite option payload - see rs_hdrd_control.h.
hdrd_control_range	Supported {min,max,step,default} bounds for hdrd_control - see rs_hdrd_control.h.
hole_filling_filter	The processing performed depends on the selected hole filling mode.
intrinsics	Video stream intrinsics.
ip_address
l500_visual_preset	For L500 devices: provides optimized settings (presets) for specific types of usage.
labeled_points	Extends the frame class with additional labeled points related attributes and functions.
link_priority	Members:
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.
object_detection
object_detection_frame	Extends perception_frame class with additional object detection related attributes and functions.
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
perception_frame	Extends the frame class with attributes inferred from the frame content, such as object detection results.
perception_sensor
perception_stream	All the parameters required to define a perception stream.
perception_stream_profile	Stream profile for perception streams.
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
rotation_filter	Performs rotation of frames.
rs400_advanced_mode
rs400_visual_preset	For D400 devices: provides optimized settings (presets) for specific types of usage.
safety_mode	Safety Mode
safety_sensor
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.
temporal_filter_dpp_config	Temporal Filter DPP composite option payload - see rs_temporal_filter_dpp.h.
temporal_filter_dpp_range	Supported {min,max,step,default} bounds for temporal_filter_dpp_config - see rs_temporal_filter_dpp.h.
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.