pyrealsense2

LibrealsenseTM Python Bindings
LibrealsenseTM Python 绑定¶

Library for accessing Intel RealSenseTM cameras
用于访问英特尔实感 TM 摄像头的库

Functions  功能

enable_rolling_log_file(max_size) enable_rolling_log_file（max_size）
log(severity, message) log（严重性， 消息）
log_to_callback(arg0, arg1) log_to_callback（参数 0， 参数 1）
log_to_console(min_severity) log_to_console（min_severity）
log_to_file(min_severity, file_path) log_to_file（min_severity、 file_path）
option_from_string(arg0) option_from_string（参数 0）
reset_logger() reset_logger（）
rs2_deproject_pixel_to_point(intrin, pixel, ...) 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 给定图像中没有失真或逆畸变系数的像素坐标和深度，计算 3D 空间中相对于同一相机的相应点
rs2_fov(intrin) rs2_fov（内在）	Calculate horizontal and vertical field of view, based on video intrinsics 根据视频内部函数计算水平和垂直视场
rs2_project_color_pixel_to_depth_pixel(data, ...) rs2_project_color_pixel_to_depth_pixel （数据， ......	Given pixel coordinates of the color image and a minimum and maximum depth, compute the corresponding pixel coordinates in the depth image. 给定彩色图像的像素坐标以及最小和最大深度，计算深度图像中相应的像素坐标。
rs2_project_point_to_pixel(intrin, point) 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 给定 3D 空间中的一个点，计算图像中相应的像素坐标，同一相机没有产生失真或前向失真系数
rs2_transform_point_to_point(extrin, from_point) rs2_transform_point_to_point（extrin，from_point ）	Transform 3D coordinates relative to one sensor to 3D coordinates relative to another viewpoint 将相对于一个传感器的 3D 坐标转换为相对于另一个视点的 3D 坐标

Classes  类

BufData
STAEControl
STAFactor
STCensusRadius
STColorControl
STColorCorrection
STDepthControlGroup
STDepthTableControl
STHdad
STRauColorThresholdsControl
STRauSupportVectorControl
STRsm
STSloColorThresholdsControl
STSloPenaltyControl
align	Performs alignment between depth image and another image. 在深度图像和另一个图像之间执行对齐。
auto_calibrated_device
calib_target_type	Calibration target type.  校准目标类型。
calibration_change_device
calibration_status	Calibration callback status for use in device_calibration.trigger_device_calibration 用于 device_calibration.trigger_device_calibration 的校准回调状态
calibration_type	Calibration type for use in device_calibration 用于 device_calibration 的校准类型
camera_info	This information is mainly available for camera debug and troubleshooting and should not be used in applications. 此信息主要用于相机调试和故障排除，不应在应用程序中使用。
color_sensor
colorizer	Colorizer filter generates color images based on input depth frame 着色器过滤器根据输入深度帧生成彩色图像
combined_motion	IMU combined GYRO & ACCEL data IMU 组合 GYRO 和 ACCEL 数据
composite_frame	Extends the frame class with additional frameset related attributes and functions 使用其他与帧集相关的属性和函数扩展帧类
config	The config allows pipeline users to request filters for the pipeline streams and device selection and configuration. 该配置允许管道用户请求管道流的过滤器以及设备选择和配置。
context	Librealsense context class. Librealsense 上下文类。
debug_protocol
debug_stream_sensor
decimation_filter	Performs downsampling by using the median with specific kernel size. 使用具有特定内核大小的中位数执行下采样。
depth_frame	Extends the video_frame class with additional depth related attributes and functions. 使用其他深度相关属性和函数扩展 video_frame 类。
depth_sensor
depth_stereo_sensor
device
device_calibration
device_list
disparity_frame	Extends the depth_frame class with additional disparity related attributes and functions. 使用其他与视差相关的属性和函数扩展 depth_frame 类。
disparity_transform	Converts from depth representation to disparity representation and vice - versa in depth frames 从深度表示转换为视差表示，反之亦然 - 在深度帧中
distortion	Distortion model: defines how pixel coordinates should be mapped to sensor coordinates. 畸变模型：定义像素坐标应如何映射到传感器坐标。
event_information
extension	Specifies advanced interfaces (capabilities) objects may implement. 指定对象可以实现的高级接口（功能）。
extrinsics	Cross-stream extrinsics: encodes the topology describing how the different devices are oriented. 跨流外部函数：对描述不同设备如何定向的拓扑进行编码。
filter	Define the filter workflow, inherit this class to generate your own filter. 定义过滤器工作流，继承此类以生成您自己的过滤器。
filter_interface	Interface for frame filtering functionality 帧过滤功能的接口
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. 流的格式标识了二进制数据在帧内的编码方式。
frame	Base class for multiple frame extensions 多帧扩展的基类
frame_metadata_value	Per-Frame-Metadata is the set of read-only properties that might be exposed for each individual frame. Per-Frame-Metadata 是可能为每个单独的帧公开的只读属性集。
frame_queue	Frame queues are the simplest cross-platform synchronization primitive provided by librealsense to help developers who are not using async APIs. 帧队列是 librealsense 提供的最简单的跨平台同步原语，用于帮助不使用异步 API 的开发人员。
frame_source	The source used to generate frames, which is usually done by the low level driver for each sensor. 用于生成帧的源，通常由每个传感器的低电平驱动程序完成。
hdr_merge	Merges depth frames with different sequence ID 合并具有不同序列 ID 的深度帧
hole_filling_filter	The processing performed depends on the selected hole filling mode. 执行的处理取决于所选的孔填充模式。
intrinsics	Video stream intrinsics.  视频流内部函数。
l500_visual_preset	For L500 devices: provides optimized settings (presets) for specific types of usage. 对于 L500 设备：为特定类型的使用提供优化的设置（预设）。
log_message
log_severity	Severity of the librealsense logger. librealsense 记录器的严重性。
matchers	Specifies types of different matchers. 指定不同匹配器的类型。
max_usable_range_sensor
motion_device_intrinsic	Motion device intrinsics: scale, bias, and variances. 运动设备内部函数：规模、偏差和方差。
motion_frame	Extends the frame class with additional motion related attributes and functions 使用其他运动相关属性和函数扩展帧类
motion_sensor
motion_stream	All the parameters required to define a motion stream. 定义运动流所需的所有参数。
motion_stream_profile	Stream profile instance which contains IMU-specific intrinsics. 包含特定于 IMU 的内部函数的流配置文件实例。
notification
notification_category	Category of the librealsense notification. librealsense 通知的类别。
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
rotation_filter	Performs rotation of frames.
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.