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 throughService.Device()
.Parameters: - service (
Service
) – any running service. - device_id (int) – the device id as hinted by the output from
start()
. - streams (
list
ofpyrealsense.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.- service (
-
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: - from_stream (
pyrealsense.constants.rs_stream
) – from stream. - to_stream (
pyrealsense.constants.rs_stream
) – to stream.
Returns: extrinsics parameters as a structure
Return type: - from_stream (
-
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 frompyrealsense.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 frompyrealsense.constants.rs_option
.
-
set_device_option
(option, value)¶ Set device option.
Parameters: - option (int) – taken from
pyrealsense.constants.rs_option
. - value (double) – value to be set for the option.
- option (int) – taken from
-
set_device_options
(options, values)¶ Set device options.
Parameters: - option (
list
of int) – taken frompyrealsense.constants.rs_option
. - values (
list
of double) – options values.
- option (
-
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.
-
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()
orget_devices()
.Returns:
generator
that yields all possible streaming modes asStreamMode
.
-
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: - name (str) – name of stream which will be used to create a
@property
onpyrealsense.core.DeviceBase
. - native (bool) – whether the stream is native or composite
- stream (int) – from
pyrealsense.constants.rs_stream
- width (int) – width
- height (int) – height
- format (int) – from
pyrealsense.constants.rs_format
- fps (int) – fps
- name (str) – name of stream which will be used to create a
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 messagefunction
(pointer(c_char)): function which caused the errorargs
(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 matrixheight
(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 pixelsheight
(c_int): height of the image in pixelsppx
(c_float): horizontal coordinate of the principal point of the image, as a pixel offset from the left edgeppy
(c_float): vertical coordinate of the principal point of the image, as a pixel offset from the top edgefx
(c_float): focal length of the image plane, as a multiple of pixel widthfy
(c_float): focal length of the image plane, as a multiple of pixel heightmodel
(c_int): distortion model of the imagecoeffs
(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¶
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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'}¶
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class
pyrealsense.constants.
rs_stream
¶ Bases:
object
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RS_STREAM_COLOR
= 1¶
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RS_STREAM_COLOR_ALIGNED_TO_DEPTH
= 7¶
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RS_STREAM_COUNT
= 12¶
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RS_STREAM_DEPTH
= 0¶
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RS_STREAM_DEPTH_ALIGNED_TO_COLOR
= 9¶
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RS_STREAM_DEPTH_ALIGNED_TO_INFRARED2
= 11¶
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RS_STREAM_DEPTH_ALIGNED_TO_RECTIFIED_COLOR
= 10¶
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RS_STREAM_FISHEYE
= 4¶
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RS_STREAM_INFRARED
= 2¶
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RS_STREAM_INFRARED2
= 3¶
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RS_STREAM_INFRARED2_ALIGNED_TO_DEPTH
= 8¶
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RS_STREAM_POINTS
= 5¶
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RS_STREAM_RECTIFIED_COLOR
= 6¶
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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'}¶
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