Code source docs

pyrealsense package

On import, you get access to the Service class which handles device creation.

pyrealsense.core module

pyrealsense.core.Device(service, device_id=0, streams=None, depth_control_preset=None, ivcam_preset=None)

Camera device, which subclass DeviceBase and create properties for each input streams to expose their data. It should be instantiated through Service.Device().

Parameters:
  • service (Service) – any running service.
  • device_id (int) – the device id as hinted by the output from start().
  • streams (list of pyrealsense.stream.Stream) – if None, all streams will be enabled with their default parameters (e.g 640x480@30FPS)
  • depth_control_preset (int) – optional preset to be applied.
  • ivcam_preset (int) – optional preset to be applied with input value from pyrealsense.constants.rs_ivcam_preset.
Returns:

A subclass of DeviceBase which class name includes the device serial number.
class pyrealsense.core.DeviceBase(dev, device_id, name, serial, version, streams)

Bases: object

Camera device base class which is called via the Device() factory. It exposes the main functions from librealsense.

apply_ivcam_preset(preset)

Provide access to several recommend sets of option presets for ivcam.

Parameters:preset (int) – preset from (pyrealsense.constants.rs_ivcam_preset)
deproject_pixel_to_point(pixel, depth)

Deproject a 2d pixel to its 3d point coordinate by calling rsutil’s rs_deproject_pixel_to_point under the hood.

Parameters:
  • pixel (np.array) – (x,y) coordinate of the point
  • depth (float) – depth at that pixel
Returns:

(x,y,z) coordinate of the point
Return type:

point (np.array)
get_available_options()

Returns available options as a list of (DeviceOptionRange, value).

get_device_extrinsics(from_stream, to_stream)

Retrieve extrinsic transformation between the viewpoints of two different streams.

Parameters:
Returns:

extrinsics parameters as a structure
Return type:

(pyrealsense.extstruct.rs_extrinsics)
get_device_modes()

Returns a generator that yields all possible streaming modes as StreamMode.

get_device_option(option)

Get device option.

Parameters:option (int) – taken from pyrealsense.constants.rs_option.
Returns:option value.
Return type:(double)
get_device_option_description(option)

Get the device option description.

Parameters:option (int) – taken from pyrealsense.constants.rs_option.
Returns:option value.
Return type:(str)
get_device_option_range_ex(option)

Get device option range.

Parameters:option (int) – taken from pyrealsense.constants.rs_option.
Returns:option range.
Return type:(DeviceOptionRange)
get_device_options(options)

Get device options.

Parameters:option (list of int) – taken from pyrealsense.constants.rs_option.
Returns:options values.
Return type:(iter of double)
get_frame_number(stream)

Retrieve the frame number for specific stream.

Parameters:stream (int) – value from pyrealsense.constants.rs_stream.
Returns:frame number.
Return type:(double)
get_frame_timestamp(stream)

Retrieve the time at which the latest frame on a specific stream was captured.

Parameters:stream (int) – stream id
Returns:timestamp
Return type:(long)
is_streaming()

Indicates if device is streaming.

Returns:return value of lrs.rs_is_device_streaming.
Return type:(bool)
poll_for_frame()

Check if new frames are available, without blocking.

Returns:1 if new frames are available, 0 if no new frames have arrived
Return type:int
Raises:utils.RealsenseError – in case librealsense reports a problem.
project_point_to_pixel(point)

Project a 3d point to its 2d pixel coordinate by calling rsutil’s rs_project_point_to_pixel under the hood.

Parameters:point (np.array) – (x,y,z) coordinate of the point
Returns:(x,y) coordinate of the pixel
Return type:pixel (np.array)
reset_device_options_to_default(options)

Reset device options to default.

Parameters:option (list of int) – taken from pyrealsense.constants.rs_option.
set_device_option(option, value)

Set device option.

Parameters:
set_device_options(options, values)

Set device options.

Parameters:
stop()

End data acquisition. :raises: utils.RealsenseError – in case librealsense reports a problem.

wait_for_frames()

Block until new frames are available.

Raises:utils.RealsenseError – in case librealsense reports a problem.
class pyrealsense.core.Service

Bases: object

Context manager for librealsense service.

Device(*args, **kwargs)

Factory function which returns a Device, also accepts optionnal arguments.

get_device_modes(device_id)

Generates all different modes for the device which id is provided.

Parameters:device_id (int) – the device id as hinted by the output from start() or get_devices().

Returns: generator that yields all possible streaming modes as StreamMode.

get_devices()

Returns a generator that yields a dictionnary containing ‘id’, ‘name’, ‘serial’, ‘firmware’ and ‘is_streaming’ keys.

is_device_streaming(device_id)

Indicates if device is streaming.

Utility function which does not require to enumerate all devices or to initialize a Device object.

start()

Start librealsense service.

stop()

Stop librealsense service.

pyrealsense.stream module

class pyrealsense.stream.CADStream(name='cad', width=640, height=480, fps=30, color_format='rgb')

Bases: pyrealsense.stream.Stream

CAD stream from device, with default parameters.

class pyrealsense.stream.ColorStream(name='color', width=640, height=480, fps=30, color_format='rgb')

Bases: pyrealsense.stream.Stream

Color stream from device, with default parameters.

class pyrealsense.stream.DACStream(name='dac', width=640, height=480, fps=30)

Bases: pyrealsense.stream.Stream

DAC stream from device, with default parameters.

class pyrealsense.stream.DepthStream(name='depth', width=640, height=480, fps=30)

Bases: pyrealsense.stream.Stream

Depth stream from device, with default parameters.

class pyrealsense.stream.InfraredStream(name='infrared', width=640, height=480, fps=30)

Bases: pyrealsense.stream.Stream

Infrared stream from device, with default parameters.

class pyrealsense.stream.PointStream(name='points', width=640, height=480, fps=30)

Bases: pyrealsense.stream.Stream

Point stream from device, with default parameters.

class pyrealsense.stream.Stream(name, native, stream, width, height, format, fps)

Bases: object

Stream object that stores all necessary information for interaction with librealsense. See for possible combinations.

Parameters:

pyrealsense.offline module

pyrealsense.extlib module

This module loads rsutilwrapper and librealsense library.

pyrealsense.extstruct module

This module manually wraps structures defined in rs.h.

class pyrealsense.extstruct.rs_context

Bases: _ctypes.Structure

This is a placeholder for the context. It is only defined to hold a reference to a pointer.

class pyrealsense.extstruct.rs_device

Bases: _ctypes.Structure

This is a placeholder for the context. It is only defined to hold a reference to a pointer.

class pyrealsense.extstruct.rs_error

Bases: _ctypes.Structure

This is a 1-to-1 mapping to rs_error from librealsense.

The _fields_ class variable is defined as follows:

  • message (c_char_p): error message
  • function (pointer(c_char)): function which caused the error
  • args (c_char_p): arguments to the function which caused the error
class pyrealsense.extstruct.rs_extrinsics

Bases: _ctypes.Structure

This is a 1-to-1 mapping to rs_extrinsics from librealsense.

The _fields_ class variable is defined as follows:

  • rotation (c_float*9): column-major 3x3 rotation matrix
  • height (c_float*3): 3 element translation vector, in meters
class pyrealsense.extstruct.rs_intrinsics

Bases: _ctypes.Structure

This is a 1-to-1 mapping to rs_intrinsics from librealsense.

The _fields_ class variable is defined as follows:

  • width (c_int): width of the image in pixels
  • height (c_int): height of the image in pixels
  • ppx (c_float): horizontal coordinate of the principal point of the image, as a pixel offset from the left edge
  • ppy (c_float): vertical coordinate of the principal point of the image, as a pixel offset from the top edge
  • fx (c_float): focal length of the image plane, as a multiple of pixel width
  • fy (c_float): focal length of the image plane, as a multiple of pixel height
  • model (c_int): distortion model of the image
  • coeffs (c_float*5): distortion coefficients

pyrealsense.utils module

This modules creates utility classes to objects that do not exists in RS API, as well as a wrapper for RS error and its pretty printing.

class pyrealsense.utils.DeviceOptionRange(option, min, max, step, default)

Bases: tuple

default

Alias for field number 4

max

Alias for field number 2

min

Alias for field number 1

option

Alias for field number 0

step

Alias for field number 3

exception pyrealsense.utils.RealsenseError(function, args, message)

Bases: exceptions.Exception

Error thrown during the processing in case the processing chain needs to be exited. Will printout the error message as received from librealsense.

class pyrealsense.utils.StreamMode(stream, width, height, format, fps)

Bases: tuple

format

Alias for field number 3

fps

Alias for field number 4

height

Alias for field number 2

stream

Alias for field number 0

width

Alias for field number 1

pyrealsense.utils.pp(fun, *args)

Wrapper for printing char pointer from ctypes.

pyrealsense.constants module

This module extract the RS_API_VERSION to which pyrealsense is binded and wraps several enums from rs.h into classes with the same name.

class pyrealsense.constants.rs_capabilities

Bases: object

RS_CAPABILITIES_ADAPTER_BOARD = 7
RS_CAPABILITIES_COLOR = 1
RS_CAPABILITIES_COUNT = 9
RS_CAPABILITIES_DEPTH = 0
RS_CAPABILITIES_ENUMERATION = 8
RS_CAPABILITIES_FISH_EYE = 4
RS_CAPABILITIES_INFRARED = 2
RS_CAPABILITIES_INFRARED2 = 3
RS_CAPABILITIES_MOTION_EVENTS = 5
RS_CAPABILITIES_MOTION_MODULE_FW_UPDATE = 6
name_for_value = {0: 'RS_CAPABILITIES_DEPTH', 1: 'RS_CAPABILITIES_COLOR', 2: 'RS_CAPABILITIES_INFRARED', 3: 'RS_CAPABILITIES_INFRARED2', 4: 'RS_CAPABILITIES_FISH_EYE', 5: 'RS_CAPABILITIES_MOTION_EVENTS', 6: 'RS_CAPABILITIES_MOTION_MODULE_FW_UPDATE', 7: 'RS_CAPABILITIES_ADAPTER_BOARD', 8: 'RS_CAPABILITIES_ENUMERATION', 9: 'RS_CAPABILITIES_COUNT'}
class pyrealsense.constants.rs_distortion

Bases: object

RS_DISTORTION_COUNT = 4
RS_DISTORTION_FTHETA = 3
RS_DISTORTION_INVERSE_BROWN_CONRADY = 2
RS_DISTORTION_MODIFIED_BROWN_CONRADY = 1
RS_DISTORTION_NONE = 0
name_for_value = {0: 'RS_DISTORTION_NONE', 1: 'RS_DISTORTION_MODIFIED_BROWN_CONRADY', 2: 'RS_DISTORTION_INVERSE_BROWN_CONRADY', 3: 'RS_DISTORTION_FTHETA', 4: 'RS_DISTORTION_COUNT'}
class pyrealsense.constants.rs_format

Bases: object

RS_FORMAT_ANY = 0
RS_FORMAT_BGR8 = 6
RS_FORMAT_BGRA8 = 8
RS_FORMAT_COUNT = 14
RS_FORMAT_DISPARITY16 = 2
RS_FORMAT_RAW10 = 11
RS_FORMAT_RAW16 = 12
RS_FORMAT_RAW8 = 13
RS_FORMAT_RGB8 = 5
RS_FORMAT_RGBA8 = 7
RS_FORMAT_XYZ32F = 3
RS_FORMAT_Y16 = 10
RS_FORMAT_Y8 = 9
RS_FORMAT_YUYV = 4
RS_FORMAT_Z16 = 1
name_for_value = {0: 'RS_FORMAT_ANY', 1: 'RS_FORMAT_Z16', 2: 'RS_FORMAT_DISPARITY16', 3: 'RS_FORMAT_XYZ32F', 4: 'RS_FORMAT_YUYV', 5: 'RS_FORMAT_RGB8', 6: 'RS_FORMAT_BGR8', 7: 'RS_FORMAT_RGBA8', 8: 'RS_FORMAT_BGRA8', 9: 'RS_FORMAT_Y8', 10: 'RS_FORMAT_Y16', 11: 'RS_FORMAT_RAW10', 12: 'RS_FORMAT_RAW16', 13: 'RS_FORMAT_RAW8', 14: 'RS_FORMAT_COUNT'}
class pyrealsense.constants.rs_ivcam_preset

Bases: object

RS_IVCAM_PRESET_BACKGROUND_SEGMENTATION = 2
RS_IVCAM_PRESET_COUNT = 11
RS_IVCAM_PRESET_DEFAULT = 8
RS_IVCAM_PRESET_FACE_ANALYTICS = 5
RS_IVCAM_PRESET_FACE_LOGIN = 6
RS_IVCAM_PRESET_GESTURE_RECOGNITION = 3
RS_IVCAM_PRESET_GR_CURSOR = 7
RS_IVCAM_PRESET_IR_ONLY = 10
RS_IVCAM_PRESET_LONG_RANGE = 1
RS_IVCAM_PRESET_MID_RANGE = 9
RS_IVCAM_PRESET_OBJECT_SCANNING = 4
RS_IVCAM_PRESET_SHORT_RANGE = 0
name_for_value = {0: 'RS_IVCAM_PRESET_SHORT_RANGE', 1: 'RS_IVCAM_PRESET_LONG_RANGE', 2: 'RS_IVCAM_PRESET_BACKGROUND_SEGMENTATION', 3: 'RS_IVCAM_PRESET_GESTURE_RECOGNITION', 4: 'RS_IVCAM_PRESET_OBJECT_SCANNING', 5: 'RS_IVCAM_PRESET_FACE_ANALYTICS', 6: 'RS_IVCAM_PRESET_FACE_LOGIN', 7: 'RS_IVCAM_PRESET_GR_CURSOR', 8: 'RS_IVCAM_PRESET_DEFAULT', 9: 'RS_IVCAM_PRESET_MID_RANGE', 10: 'RS_IVCAM_PRESET_IR_ONLY', 11: 'RS_IVCAM_PRESET_COUNT'}
class pyrealsense.constants.rs_option

Bases: object

RS_OPTION_COLOR_BACKLIGHT_COMPENSATION = 0
RS_OPTION_COLOR_BRIGHTNESS = 1
RS_OPTION_COLOR_CONTRAST = 2
RS_OPTION_COLOR_ENABLE_AUTO_EXPOSURE = 10
RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE = 11
RS_OPTION_COLOR_EXPOSURE = 3
RS_OPTION_COLOR_GAIN = 4
RS_OPTION_COLOR_GAMMA = 5
RS_OPTION_COLOR_HUE = 6
RS_OPTION_COLOR_SATURATION = 7
RS_OPTION_COLOR_SHARPNESS = 8
RS_OPTION_COLOR_WHITE_BALANCE = 9
RS_OPTION_COUNT = 68
RS_OPTION_F200_ACCURACY = 13
RS_OPTION_F200_CONFIDENCE_THRESHOLD = 16
RS_OPTION_F200_DYNAMIC_FPS = 17
RS_OPTION_F200_FILTER_OPTION = 15
RS_OPTION_F200_LASER_POWER = 12
RS_OPTION_F200_MOTION_RANGE = 14
RS_OPTION_FISHEYE_AUTO_EXPOSURE_ANTIFLICKER_RATE = 62
RS_OPTION_FISHEYE_AUTO_EXPOSURE_MODE = 61
RS_OPTION_FISHEYE_AUTO_EXPOSURE_PIXEL_SAMPLE_RATE = 63
RS_OPTION_FISHEYE_AUTO_EXPOSURE_SKIP_FRAMES = 64
RS_OPTION_FISHEYE_ENABLE_AUTO_EXPOSURE = 60
RS_OPTION_FISHEYE_EXPOSURE = 56
RS_OPTION_FISHEYE_EXTERNAL_TRIGGER = 59
RS_OPTION_FISHEYE_GAIN = 57
RS_OPTION_FISHEYE_STROBE = 58
RS_OPTION_FRAMES_QUEUE_SIZE = 65
RS_OPTION_HARDWARE_LOGGER_ENABLED = 66
RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE = 43
RS_OPTION_R200_AUTO_EXPOSURE_BRIGHT_RATIO_SET_POINT = 38
RS_OPTION_R200_AUTO_EXPOSURE_KP_DARK_THRESHOLD = 41
RS_OPTION_R200_AUTO_EXPOSURE_KP_EXPOSURE = 40
RS_OPTION_R200_AUTO_EXPOSURE_KP_GAIN = 39
RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE = 44
RS_OPTION_R200_AUTO_EXPOSURE_MEAN_INTENSITY_SET_POINT = 37
RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE = 45
RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE = 42
RS_OPTION_R200_DEPTH_CLAMP_MAX = 34
RS_OPTION_R200_DEPTH_CLAMP_MIN = 33
RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT = 46
RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT = 47
RS_OPTION_R200_DEPTH_CONTROL_LR_THRESHOLD = 55
RS_OPTION_R200_DEPTH_CONTROL_MEDIAN_THRESHOLD = 48
RS_OPTION_R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD = 54
RS_OPTION_R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD = 50
RS_OPTION_R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD = 49
RS_OPTION_R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD = 53
RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD = 51
RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD = 52
RS_OPTION_R200_DEPTH_UNITS = 32
RS_OPTION_R200_DISPARITY_MULTIPLIER = 35
RS_OPTION_R200_DISPARITY_SHIFT = 36
RS_OPTION_R200_EMITTER_ENABLED = 31
RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED = 28
RS_OPTION_R200_LR_EXPOSURE = 30
RS_OPTION_R200_LR_GAIN = 29
RS_OPTION_SR300_AUTO_RANGE_ENABLE_LASER = 19
RS_OPTION_SR300_AUTO_RANGE_ENABLE_MOTION_VERSUS_RANGE = 18
RS_OPTION_SR300_AUTO_RANGE_LOWER_THRESHOLD = 27
RS_OPTION_SR300_AUTO_RANGE_MAX_LASER = 24
RS_OPTION_SR300_AUTO_RANGE_MAX_MOTION_VERSUS_RANGE = 21
RS_OPTION_SR300_AUTO_RANGE_MIN_LASER = 23
RS_OPTION_SR300_AUTO_RANGE_MIN_MOTION_VERSUS_RANGE = 20
RS_OPTION_SR300_AUTO_RANGE_START_LASER = 25
RS_OPTION_SR300_AUTO_RANGE_START_MOTION_VERSUS_RANGE = 22
RS_OPTION_SR300_AUTO_RANGE_UPPER_THRESHOLD = 26
RS_OPTION_TOTAL_FRAME_DROPS = 67
name_for_value = {0: 'RS_OPTION_COLOR_BACKLIGHT_COMPENSATION', 1: 'RS_OPTION_COLOR_BRIGHTNESS', 2: 'RS_OPTION_COLOR_CONTRAST', 3: 'RS_OPTION_COLOR_EXPOSURE', 4: 'RS_OPTION_COLOR_GAIN', 5: 'RS_OPTION_COLOR_GAMMA', 6: 'RS_OPTION_COLOR_HUE', 7: 'RS_OPTION_COLOR_SATURATION', 8: 'RS_OPTION_COLOR_SHARPNESS', 9: 'RS_OPTION_COLOR_WHITE_BALANCE', 10: 'RS_OPTION_COLOR_ENABLE_AUTO_EXPOSURE', 11: 'RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE', 12: 'RS_OPTION_F200_LASER_POWER', 13: 'RS_OPTION_F200_ACCURACY', 14: 'RS_OPTION_F200_MOTION_RANGE', 15: 'RS_OPTION_F200_FILTER_OPTION', 16: 'RS_OPTION_F200_CONFIDENCE_THRESHOLD', 17: 'RS_OPTION_F200_DYNAMIC_FPS', 18: 'RS_OPTION_SR300_AUTO_RANGE_ENABLE_MOTION_VERSUS_RANGE', 19: 'RS_OPTION_SR300_AUTO_RANGE_ENABLE_LASER', 20: 'RS_OPTION_SR300_AUTO_RANGE_MIN_MOTION_VERSUS_RANGE', 21: 'RS_OPTION_SR300_AUTO_RANGE_MAX_MOTION_VERSUS_RANGE', 22: 'RS_OPTION_SR300_AUTO_RANGE_START_MOTION_VERSUS_RANGE', 23: 'RS_OPTION_SR300_AUTO_RANGE_MIN_LASER', 24: 'RS_OPTION_SR300_AUTO_RANGE_MAX_LASER', 25: 'RS_OPTION_SR300_AUTO_RANGE_START_LASER', 26: 'RS_OPTION_SR300_AUTO_RANGE_UPPER_THRESHOLD', 27: 'RS_OPTION_SR300_AUTO_RANGE_LOWER_THRESHOLD', 28: 'RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED', 29: 'RS_OPTION_R200_LR_GAIN', 30: 'RS_OPTION_R200_LR_EXPOSURE', 31: 'RS_OPTION_R200_EMITTER_ENABLED', 32: 'RS_OPTION_R200_DEPTH_UNITS', 33: 'RS_OPTION_R200_DEPTH_CLAMP_MIN', 34: 'RS_OPTION_R200_DEPTH_CLAMP_MAX', 35: 'RS_OPTION_R200_DISPARITY_MULTIPLIER', 36: 'RS_OPTION_R200_DISPARITY_SHIFT', 37: 'RS_OPTION_R200_AUTO_EXPOSURE_MEAN_INTENSITY_SET_POINT', 38: 'RS_OPTION_R200_AUTO_EXPOSURE_BRIGHT_RATIO_SET_POINT', 39: 'RS_OPTION_R200_AUTO_EXPOSURE_KP_GAIN', 40: 'RS_OPTION_R200_AUTO_EXPOSURE_KP_EXPOSURE', 41: 'RS_OPTION_R200_AUTO_EXPOSURE_KP_DARK_THRESHOLD', 42: 'RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE', 43: 'RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE', 44: 'RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE', 45: 'RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE', 46: 'RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT', 47: 'RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT', 48: 'RS_OPTION_R200_DEPTH_CONTROL_MEDIAN_THRESHOLD', 49: 'RS_OPTION_R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD', 50: 'RS_OPTION_R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD', 51: 'RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD', 52: 'RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD', 53: 'RS_OPTION_R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD', 54: 'RS_OPTION_R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD', 55: 'RS_OPTION_R200_DEPTH_CONTROL_LR_THRESHOLD', 56: 'RS_OPTION_FISHEYE_EXPOSURE', 57: 'RS_OPTION_FISHEYE_GAIN', 58: 'RS_OPTION_FISHEYE_STROBE', 59: 'RS_OPTION_FISHEYE_EXTERNAL_TRIGGER', 60: 'RS_OPTION_FISHEYE_ENABLE_AUTO_EXPOSURE', 61: 'RS_OPTION_FISHEYE_AUTO_EXPOSURE_MODE', 62: 'RS_OPTION_FISHEYE_AUTO_EXPOSURE_ANTIFLICKER_RATE', 63: 'RS_OPTION_FISHEYE_AUTO_EXPOSURE_PIXEL_SAMPLE_RATE', 64: 'RS_OPTION_FISHEYE_AUTO_EXPOSURE_SKIP_FRAMES', 65: 'RS_OPTION_FRAMES_QUEUE_SIZE', 66: 'RS_OPTION_HARDWARE_LOGGER_ENABLED', 67: 'RS_OPTION_TOTAL_FRAME_DROPS', 68: 'RS_OPTION_COUNT'}
class pyrealsense.constants.rs_stream

Bases: object

RS_STREAM_COLOR = 1
RS_STREAM_COLOR_ALIGNED_TO_DEPTH = 7
RS_STREAM_COUNT = 12
RS_STREAM_DEPTH = 0
RS_STREAM_DEPTH_ALIGNED_TO_COLOR = 9
RS_STREAM_DEPTH_ALIGNED_TO_INFRARED2 = 11
RS_STREAM_DEPTH_ALIGNED_TO_RECTIFIED_COLOR = 10
RS_STREAM_FISHEYE = 4
RS_STREAM_INFRARED = 2
RS_STREAM_INFRARED2 = 3
RS_STREAM_INFRARED2_ALIGNED_TO_DEPTH = 8
RS_STREAM_POINTS = 5
RS_STREAM_RECTIFIED_COLOR = 6
name_for_value = {0: 'RS_STREAM_DEPTH', 1: 'RS_STREAM_COLOR', 2: 'RS_STREAM_INFRARED', 3: 'RS_STREAM_INFRARED2', 4: 'RS_STREAM_FISHEYE', 5: 'RS_STREAM_POINTS', 6: 'RS_STREAM_RECTIFIED_COLOR', 7: 'RS_STREAM_COLOR_ALIGNED_TO_DEPTH', 8: 'RS_STREAM_INFRARED2_ALIGNED_TO_DEPTH', 9: 'RS_STREAM_DEPTH_ALIGNED_TO_COLOR', 10: 'RS_STREAM_DEPTH_ALIGNED_TO_RECTIFIED_COLOR', 11: 'RS_STREAM_DEPTH_ALIGNED_TO_INFRARED2', 12: 'RS_STREAM_COUNT'}