realsense-cli 0.3.0

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realsense-cli

A modern command-line interface for Intel RealSense cameras, built on pyrealsense2.

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Features

• List connected devices and their supported streaming profiles
• Configure sensor controls (exposure, gain, laser power, etc.)
• Stream selected profiles and monitor live FPS per stream
• Inspect ROS bag files without a full ROS installation
• Multi-device support via --serial

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Installation

uv (recommended):

uv tool install realsense-cli   # install permanently
uvx realsense-cli               # run without installing

pipx:

pipx install realsense-cli

pip:

pip install realsense-cli

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Development

Clone and set up:

git clone https://github.com/yegarti/realsense-cli.git
cd realsense-cli
uv sync

Run the CLI from source:

uv run rs --help

Run tests:

uv run pytest                  # mock tests only (no camera required)
uv run pytest -m hardware      # hardware integration tests (camera required)

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Quick Start

rs --help          # top-level help
rs list            # show connected devices
rs stream play     # start all streams with default settings

Use -s / --serial to target a specific device when multiple are connected:

rs -s 801312071342 stream play depth

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Commands

rs 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

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rs config — sensor controls

List all writable controls for a sensor:

rs config list depth
rs config list color

Read control values:

rs config get depth exposure laser_power

  Name          Value
 ──────────────────────
  exposure      8500.0
  laser_power   150.0

Write control values:

rs config set depth exposure=15000 laser_power=120

Read all controls at once:

rs config get depth --all

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rs stream — streaming

List supported profiles for a sensor (or all sensors):

rs stream list
rs stream list depth

                     Streams
  Stream       Resolution   FPS          Format
 ───────────────────────────────────────────────
  Depth        640x480      6/15/30      Z16
  Infrared 1   640x480      6/15/30      Y8
  Infrared 2   640x480      6/15/30      Y8
  Color        640x480      6/15/30      RGB8
  ...

Start streaming — profile syntax: STREAM[-WxH[-FPS[-FORMAT]]]

rs stream play                             # all streams, default settings
rs stream play depth                       # depth only
rs stream play depth color                 # depth + color
rs stream play depth-640x480-30-z16        # fully specified profile
rs stream play depth-640x480-30 color-0x0-15

Live view (Ctrl-C to stop):

  ╭─────── Depth (0) 640x480 15fps z16 ───────╮
  │ Frame #69       FPS: 15.01                │
  ╰───────────────────────────────────────────╯
  ╭───── Infrared 1 (1) 640x480 15fps y8 ─────╮
  │ Frame #66       FPS: 15.01                │
  ╰───────────────────────────────────────────╯
  ╭────── Color (0) 640x480 15fps rgb8 ───────╮
  │ Frame #68       FPS: 15.01                │
  ╰───────────────────────────────────────────╯

Hide metadata with --no-md. Switch to the low-level sensor API with --sensor.

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rs bag — ROS bag inspection

rs bag info recording.bag

Displays bag duration and per-topic message counts without requiring a full ROS installation.

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rs reset — hardware reset

rs reset

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Options

Option	Description
-s, --serial	Select device by serial number
-v	Verbose output (INFO); -vv for DEBUG
-h, --help	Show help for any command