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Project description
Realsense-CLI
RealSenseCLI is a command-line utility for interacting with RealSense cameras built on top of pyrealsense2.
With this package, you can easily access and control the functionalities of your RealSense cameras directly from the terminal
Features
- List connected devices info and supported streams
- Configure camera sensor controls
- Stream selected streaming profiles and check for FPS
Installation
pipx
Install RealSense-CLI using pipx
pipx install realsense-cli
pip
Install as a regular Python package
python -m pip install realsense-cli
Build
Build the package using Poetry
poetry build
Usage
You can call rs --help to read the help for every command.
All commands, except rs list operate on a single connected device.
In case multiple devices are connected use the -s/--serial option to select a device.
List
List connected devices
> rs list
Devices
Name Serial Firmware USB Connection Sensors
───────────────────────────────────────────────────────────────────────────────────
Intel RealSense D435 801312071342 5.13.0.51 2.1 Stereo Module
RGB Camera
Intel RealSense D415 732612060537 5.15.0.2 3.2 Stereo Module
RGB Camera
Configure
List sensor supported controls
> rs config list depth
Controls
Name Description Min Value Max Value Step Default Value
───────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
exposure Depth Exposure (usec) 1.0 200000.0 1.0 8500.0
gain UVC image gain 16.0 248.0 1.0 16.0
enable_auto_exposure Enable Auto Exposure 0.0 1.0 1.0 1.0
visual_preset Advanced-Mode Preset 0.0 5.0 1.0 0.0
laser_power Manual laser power in mw. applicable only when laser power mode is set to Manual 0.0 360.0 30.0 150.0
emitter_enabled Emitter select, 0-disable all emitters, 1-enable laser, 2-enable laser auto (opt), 3-enable LED (opt) 0.0 2.0 1.0 1.0
frames_queue_size Max number of frames you can hold at a given time. Increasing this number will reduce frame drops but increase 0.0 32.0 1.0 16.0
latency, and vice versa
error_polling_enabled Enable / disable polling of camera internal errors 0.0 1.0 1.0 0.0
output_trigger_enabled Generate trigger from the camera to external device once per frame 0.0 1.0 1.0 0.0
depth_units Number of meters represented by a single depth unit 1e-06 0.01 1e-06 0.001
inter_cam_sync_mode Inter-camera synchronization mode: 0:Default, 1:Master, 2:Slave, 3:Full Salve, 4-258:Genlock with burst count of 0.0 260.0 1.0 0.0
1-255 frames for each trigger, 259 and 260 for two frames per trigger with laser ON-OFF and OFF-ON.
emitter_on_off Alternating emitter pattern, toggled on/off on per-frame basis 0.0 1.0 1.0 0.0
global_time_enabled Enable/Disable global timestamp 0.0 1.0 1.0 1.0
emitter_always_on Emitter always on mode: 0:disabled(default), 1:enabled 0.0 1.0 1.0 0.0
hdr_enabled HDR Option 0.0 1.0 1.0 0.0
sequence_name HDR Option 0.0 3.0 1.0 1.0
sequence_size HDR Option 2.0 2.0 1.0 2.0
sequence_id HDR Option 0.0 2.0 1.0 0.0
Query sensor controls
> rs config depth get exposure laser_power
Name Value
──────────────────────
exposure 8500.0
laser_power 150.0
Set sensor controls
> rs config set depth exposure=15000 laser_power=120
Name Value
───────────────────────
exposure 15000.0
laser_power 120.0
Stream
List supported profiles
can be called with a sensor name (rs stream list depth) or without sensor to list profiles for all sensors
> rs stream list
Streams
Stream Resolution FPS Format
───────────────────────────────────────────────
Depth 256x144 90 Z16
Depth 480x270 6/15/30/60 Z16
Depth 640x360 30 Z16
Depth 640x480 6/15/30 Z16
Depth 848x480 6/8/10 Z16
Depth 1280x720 6 Z16
Infrared 1 480x270 6/15/30/60 Y8
Infrared 1 640x360 30 Y8
Infrared 1 640x480 6/15/30 Y8
Infrared 1 848x480 6/8/10 Y8
Infrared 1 1280x720 6 Y8
Infrared 2 480x270 6/15/30/60 Y8
Infrared 2 640x360 30 Y8
Infrared 2 640x480 6/15/30 Y8
Infrared 2 848x480 6/8/10 Y8
Infrared 2 1280x720 6 Y8
...
Color 1280x720 6/10/15 RGB8
Color 1280x720 6/10/15 RGBA8
Color 1280x720 6/10/15 Y16
Color 1280x720 6/10/15 Y8
Color 1280x720 6/10/15 YUYV
Color 1920x1080 8 BGR8
Color 1920x1080 8 BGRA8
Color 1920x1080 8 RGB8
Color 1920x1080 8 RGBA8
Color 1920x1080 8 Y16
Color 1920x1080 8 Y8
Color 1920x1080 8 YUYV
Play
Stream profiles and show a live view for incoming frames
rs stream play- Start all streams with default profilesrs stream play depth color infrared2- Start only given streams with default settingsrs stream play depth color --fps 30 --res 1280x720- Start given streams with 1280x720 resolution at 30 fps
Example for live view (Ctrl-C to exit)
> rs stream play
╭─────── Depth (0) 640x480 15fps z16 ───────╮
│ Frame #69 FPS: 15.01 │
╰───────────────────────────────────────────╯
╭───── Infrared 1 (1) 640x480 15fps y8 ─────╮
│ Frame #66 FPS: 15.01 │
╰───────────────────────────────────────────╯
╭───── Infrared 2 (2) 640x480 15fps y8 ─────╮
│ Frame #66 FPS: 15.01 │
╰───────────────────────────────────────────╯
╭────── Color (0) 640x480 15fps rgb8 ───────╮
│ Frame #68 FPS: 15.01 │
╰───────────────────────────────────────────╯
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