realsense_rust/kind/
format.rs

1//! Enumeration of frame data format & layout
2
3use num_derive::{FromPrimitive, ToPrimitive};
4use realsense_sys as sys;
5
6/// A type representing all possible data formats for raw frame data
7#[repr(i32)]
8#[derive(FromPrimitive, ToPrimitive, Debug, Clone, Copy, PartialEq, Eq, Hash)]
9pub enum Rs2Format {
10    /// Format key used to tell librealsense2 to pick the best suited format.
11    ///
12    /// Unlike the other format entries in this enum, `Any` is used primarily when setting up
13    /// streams in the config / pipeline. If you pass this, librealsense2 will pick the best suited
14    /// (default) format for a given sensor.
15    Any = sys::rs2_format_RS2_FORMAT_ANY as i32,
16    /// 32-bit y0, u, y1, v data for every two pixels.
17    ///
18    /// Similar to YUV422 but packed in a different order. See [the wikipedia
19    /// page](https://en.wikipedia.org/wiki/YUV) for more info.
20    Yuyv = sys::rs2_format_RS2_FORMAT_YUYV as i32,
21    /// 32-bit u, y0, v, y1 data for every two pixels.
22    ///
23    /// Similar to the standard YUYV pixel format, but packed in a different order
24    Uyvy = sys::rs2_format_RS2_FORMAT_UYVY as i32,
25    /// Raw data from the motion sensor
26    MotionRaw = sys::rs2_format_RS2_FORMAT_MOTION_RAW as i32,
27    /// Raw data from the external sensors hooked to one of the GPIO pins
28    GpioRaw = sys::rs2_format_RS2_FORMAT_GPIO_RAW as i32,
29    /// 32-bit floating point depth distance value
30    Distance = sys::rs2_format_RS2_FORMAT_DISTANCE as i32,
31    /// Bitstream encoding for video in which an image of each frame is encoded as JPEG-DIB
32    Mjpeg = sys::rs2_format_RS2_FORMAT_MJPEG as i32,
33    /// Multi-planar 16-bit depth + 10-bit IR
34    Inzi = sys::rs2_format_RS2_FORMAT_INZI as i32,
35    /// 8-bit IR stream
36    Invi = sys::rs2_format_RS2_FORMAT_INVI as i32,
37    /// Pose data packed as array of 32-bit floats.
38    ///
39    /// Contains translation vector, rotation quaternion, prediction velocities, and accelerations
40    /// vectors.
41    ///
42    _6Dof = sys::rs2_format_RS2_FORMAT_6DOF as i32,
43    /// 8-bit blue, green, and red channels (in that order)
44    Bgr8 = sys::rs2_format_RS2_FORMAT_BGR8 as i32,
45    /// 8-bit blue, green, red, and alpha channels (in that order)
46    ///
47    /// Alpha channel is always equal to 0xFF
48    Bgra8 = sys::rs2_format_RS2_FORMAT_BGRA8 as i32,
49    /// 16-bit floating-point disparity values.
50    ///
51    /// Depth -> disparity conversion is done with the formula:
52    ///
53    ///   disparity = baseline * focal_length / depth
54    ///
55    Disparity16 = sys::rs2_format_RS2_FORMAT_DISPARITY16 as i32,
56    /// 32-bit floating-point disparity values.
57    ///
58    /// Depth -> disparity conversion is done with the formula:
59    ///
60    ///   disparity = baseline * focal_length / depth
61    ///
62    Disparity32 = sys::rs2_format_RS2_FORMAT_DISPARITY32 as i32,
63    /// Motion data packed as 3 32-bit fload values in [x, y, z] order
64    MotionXyz32F = sys::rs2_format_RS2_FORMAT_MOTION_XYZ32F as i32,
65    /// 8-bit raw image
66    Raw8 = sys::rs2_format_RS2_FORMAT_RAW8 as i32,
67    /// Four 10-bit per pixel luminance values packed into a 5-byte macropixel
68    Raw10 = sys::rs2_format_RS2_FORMAT_RAW10 as i32,
69    /// 16-bit raw image
70    Raw16 = sys::rs2_format_RS2_FORMAT_RAW16 as i32,
71    /// 8-bit red, green and blue channels (in that order)
72    Rgb8 = sys::rs2_format_RS2_FORMAT_RGB8 as i32,
73    /// 8-bit red, green, blue, and alpha channels (in that order)
74    ///
75    /// alpha channel is always equal to 0xFF
76    Rgba8 = sys::rs2_format_RS2_FORMAT_RGBA8 as i32,
77    /// Grey-scale image as a bit-packed array.
78    ///
79    /// 4 pixel data stream taking 5 bytes.
80    W10 = sys::rs2_format_RS2_FORMAT_W10 as i32,
81    /// 32-bit floating point 3D coordinates in [x, y, z] order
82    Xyz32F = sys::rs2_format_RS2_FORMAT_XYZ32F as i32,
83    /// 8-bit per pixel grayscale image
84    Y8 = sys::rs2_format_RS2_FORMAT_Y8 as i32,
85    /// 8-bit per pixel interleaved.
86    ///
87    /// 8-bit left, 8-bit right.
88    Y8I = sys::rs2_format_RS2_FORMAT_Y8I as i32,
89    /// 16-bit per pixel grayscale image unpacked from 10-bit per pixel packed data.
90    ///
91    /// 10-bit data is packed as (\[8:8:8:8:2222\]).
92    ///
93    /// The data is unpacked to LSB and padded with 6 zero bits.
94    Y10Bpack = sys::rs2_format_RS2_FORMAT_Y10BPACK as i32,
95    /// 12-bits per pixel interleaved.
96    ///
97    /// 12-bit left, 12-bit right.
98    ///
99    /// Each pixel is stored in a 24-bit word in little-endian order.
100    Y12I = sys::rs2_format_RS2_FORMAT_Y12I as i32,
101    /// 16-bit per pixel grayscale image
102    Y16 = sys::rs2_format_RS2_FORMAT_Y16 as i32,
103    /// 16-bit linear depth values
104    ///
105    /// The depth in metres is equal to depth scale multiplied by each pixel value.
106    Z16 = sys::rs2_format_RS2_FORMAT_Z16 as i32,
107    /// Variable-length Huffman-compressed 16-bit depth values
108    Z16H = sys::rs2_format_RS2_FORMAT_Z16H as i32,
109    /// 16-bit per pixel frame grabber format
110    Fg = sys::rs2_format_RS2_FORMAT_FG as i32,
111    /// 12-bit per pixel
112    Y411 = sys::rs2_format_RS2_FORMAT_Y411 as i32,
113    // Not included since this just tells us the total number of formats
114    //
115    // Count = sys::rs2_format_RS2_FORMAT_COUNT,
116}
117
118#[cfg(test)]
119mod tests {
120    use super::*;
121    use num_traits::FromPrimitive;
122
123    #[test]
124    fn all_variants_exist() {
125        for i in 0..sys::rs2_format_RS2_FORMAT_COUNT as i32 {
126            assert!(
127                Rs2Format::from_i32(i).is_some(),
128                "Rs2Format variant for ordinal {} does not exist.",
129                i
130            );
131        }
132    }
133}
realsense_rust/kind/format.rs

realsense_rust/kind/
format.rs
