Crate realsense_rust

The crate provides high level API to librealsense2.

It features asynchronous API and integration with image and nalgebra.

Cargo Features

The crate enables with-nalgebra and with-image features by default.

• with-nalgebra (default): Enable nalgebra support.
• with-image (default): Enable image support.
• buildtime-bindgen: Generate Rust bindings during build time.
• device-test: Enable tests that requires connections to RealSense devices.

Get Started

You can start by Pipeline. This is the minimal example to capture color and depth images.

use anyhow::Result;
use realsense_rust::{Config, Format, Pipeline, StreamKind};

fn main() -> anyhow::Result<()> {
    let pipeline = Pipeline::new()?;
    let config = Config::new()?
        .enable_stream(StreamKind::Depth, 0, 640, 0, Format::Z16, 30)?
        .enable_stream(StreamKind::Color, 0, 640, 0, Format::Rgb8, 30)?;
    let mut pipeline = pipeline.start(config)?;

    let frames = pipeline.wait(None)?.unwrap();
    let color_frame = frames.color_frame()?.unwrap();
    let depth_frame = frames.depth_frame()?.unwrap();

    Ok(())
}

Re-exports

pub use base::Extrinsics;

pub use base::Intrinsics;

pub use base::MotionIntrinsics;

pub use base::PoseData;

pub use base::Resolution;

pub use base::StreamProfileData;

pub use config::Config;

pub use context::Context;

pub use device::Device;

pub use device_hub::DeviceHub;

pub use device_list::DeviceList;

pub use device_list::DeviceListIntoIter;

pub use error::Error;

pub use error::Result;

pub use frame::CompositeFrameIntoIter;

pub use frame::DepthFrame;

pub use frame::DepthFrameEx;

pub use frame::DisparityFrame;

pub use frame::DisparityFrameEx;

pub use frame::ExtendedFrame;

pub use frame::Frame;

pub use frame::GenericFrameEx;

pub use frame::VideoFrame;

pub use frame::VideoFrameEx;

pub use frame_queue::FrameQueue;

pub use kind::CameraInfo;

pub use kind::ColorScheme;

pub use kind::Extension;

pub use kind::Format;

pub use kind::FrameMetaDataValue;

pub use kind::HoleFillingMode;

pub use kind::PersistenceControl;

pub use kind::Rs2Option;

pub use kind::StreamKind;

pub use kind::TimestampDomain;

pub use options::OptionHandle;

pub use options::ToOptions;

pub use pipeline::ActivePipeline;

pub use pipeline::InactivePipeline;

pub use pipeline::Pipeline;

pub use pipeline_profile::PipelineProfile;

pub use processing_block::Align;

pub use processing_block::AnyProcessingBlock;

pub use processing_block::Colorizer;

pub use processing_block::DecimationFilter;

pub use processing_block::DisparityFilter;

pub use processing_block::HoleFillingFilter;

pub use processing_block::HuffmanDepthDecompress;

pub use processing_block::PointCloud;

pub use processing_block::ProcessingBlock;

pub use processing_block::RatesPrinter;

pub use processing_block::SpatialFilter;

pub use processing_block::Syncer;

pub use processing_block::TemporalFilter;

pub use processing_block::ThresholdFilter;

pub use processing_block::UnitsTransform;

pub use processing_block::YuyDecoder;

pub use processing_block::ZeroOrderFilter;

pub use processing_block_list::ProcessingBlockList;

pub use processing_block_list::ProcessingBlockListIntoIter;

pub use sensor::AnySensor;

pub use sensor::ColorSensor;

pub use sensor::DepthSensor;

pub use sensor::DepthStereoSensor;

pub use sensor::ExtendedSensor;

pub use sensor::FishEyeSensor;

pub use sensor::L500DepthSensor;

pub use sensor::MotionSensor;

pub use sensor::PoseSensor;

pub use sensor::Sensor;

pub use sensor::SoftwareSensor;

pub use sensor::Tm2Sensor;

pub use sensor_list::SensorList;

pub use sensor_list::SensorListIntoIter;

pub use stream_profile::AnyStreamProfile;

pub use stream_profile::MotionStreamProfile;

pub use stream_profile::PoseStreamProfile;

pub use stream_profile::StreamProfile;

pub use stream_profile::VideoStreamProfile;

pub use stream_profile_list::StreamProfileList;

pub use stream_profile_list::StreamProfileListIntoIter;

Modules

base	Common types and functions.
config	Configuration type for Pipeline.
context	Defines the sensor context.
device	Defines the device types.
device_hub	Defines the type of device hubs.
device_list	Defines the iterable list of devices.
error	Defines the error type used by the crate.
frame	Defines the frame type including sensor data.
frame_kind	Marker types and traits for Frame.
frame_queue	Defines the queue type of frames.
kind	Defines the common used enums.
options	Extension trait for runtime configuration.
pipeline	Defines the pipeline type.
pipeline_kind	Marker traits and types for Pipeline.
pipeline_profile	Defines the profile type of pipeline.
prelude	The mod collects common used traits from this crate.
processing_block	Defines the processing block type.
processing_block_kind	Marker traits and types for ProcessingBlock.
processing_block_list	Defines the iterable list of processing blocks.
sensor	Defines the sensor type.
sensor_kind	Marker traits and types for Sensor.
sensor_list	Defines the iterable list of sensors.
stream_profile	Defines the profile type of streams.
stream_profile_kind	Marker traits and types for StreamProfile.
stream_profile_list	Defines the iterable list of stream profiles.

Enums

Rs2Image

Image type returned by sensor.