README.md

(2021/02/27) RealSense-Rust is moved Tangram Vision's Gitlab

RealSense-Rust is moved to Gitlab and now is maintained by Tangram Vision. The Tangram Vision has a full-time team to continue the development and take care of future issues. The project always keeps open source and allows community contributions. I believe the migration keeps the project alive and prosper.

The project's new home:

https://gitlab.com/tangram-vision-oss/realsense-rust

RealSense bindings for Rust

The project provides high-level bindings to librealsense2 library as well as low-level FFI interface. It supports asynchronous API and integration with image and nalgebra types.

Use this crate in your project

Make sure librealsense 2.39.0 is installed on your system. You may visit RealSense official repository.

Add this crate to your Cargo.toml.

[dependencies]
realsense-rust = "0.5"

If you're using older librealsense for reasons. You may enable buildtime-bindgen to re-generate bindings and good luck.

[dependencies]
realsense-rust = { version = "0.5", features = ["buildtime-bindgen"] }

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(())
}

Examples

To capture image with your RealSense device,

cargo run --release --example capture_images

More examples can be found in examples directory.

Develop this project

Work with realsense-sys low-level API

The realsense-sys crate provides C bindings generated from librealsense headers. The reference can be found on RealSense official documentation.

Import realsense-sys to your Cargo.toml.

[dependencies]
realsense-sys = "0.3"

and you can call low level C functions.

let pipeline = Pipeline::new()?;
let (pipeline_ptr, context_ptr) = pipeline.into_raw_parts();

unsafe {
    let mut error: *mut realsense_sys::rs2_error = std::ptr::null_mut();
    realsense_sys::rs2_pipeline_start(pipeline_ptr, &mut error as *mut _);
    if !error.is_null() {
        panic!("fail");
    }
}

Generate documents from source code

The API changes may not be found on docs.rs. To generate document from the most recent commit,

cargo doc --open

License

Apache 2.0. See LICENSE file.