# Space Stream [](https://pypi.org/project/space-stream/)
Send RGB-D images over spout / syphon with visiongraph.
*Source: Intel® RealSense™ [Sample Data](https://github.com/IntelRealSense/librealsense/blob/master/doc/sample-data.md)*
### Installation
It is recommended to use `Python 11` (`Python 3.8`, `Python 3.9` or `Python 3.10` should work too) and should run on any OS. First create a new [virtualenv](https://docs.python.org/3/library/venv.html) and activate it.
After that install all dependencies:
```bash
pip install space-stream
```
#### ZED Camera
To be able to use a ZED Camera, please follow the tutorial on the [ZED Python API](https://www.stereolabs.com/docs/app-development/python/install/) website.
1. Install the [ZED SDK](https://www.stereolabs.com/developers/release/) (together with CUDA)
2. Run the command `python "C:\Program Files (x86)\ZED SDK\get_python_api.py"` inside the virtual python environment
### Usage
Simply run the `spacestream` module with the following command to run a capturing pipeline (RealSense based). After that you can open a [spout receiver](https://github.com/leadedge/Spout2/releases) / syphon receiver and check the result there.
```
space-stream --input realsense
```
To use the Azure Kinect use the `azure` input type:
```
space-stream --input azure
```
### Build
```bash
python setup.py distribute
```
### Development
To develop with this project, clone the git repository and install the dependencies from the requirements:
```bash
pip install -r requirements.txt
```
To call the module directly, use the `-m` command from python:
```
python -m spacestream
```
#### Depth Codec
By default the depthmap is encoded by the linear codec. It is possible to change the behaviour to use a specific encoding method. Be aware that some functions have an impact on performance. Here is a list of all available codecs:
```
Linear,
UniformHue
InverseHue
```
The codecs `UniformHue` and `InverseHue` are implemented according to the Intel whitepaper about [Depth image compression by colorization](https://dev.intelrealsense.com/docs/depth-image-compression-by-colorization-for-intel-realsense-depth-cameras).
#### Bit Depth
The encoded bit-depth depends on the codec used. For `Linear` codec there are two different bit-depths encoded. First the `8-bit` encoding in the `red` channel and `16-bit` encoded values in the `green` (MSB) and `blue` (LSB) channel.
#### Distance Range
To define the min and max distance to encode, use the `--min-distance` and `--max-distance` parameter.
#### Help
```
usage: space-stream [-h] [-c CONFIG] [-s SETTINGS]
[--loglevel {critical,error,warning,info,debug}]
[--record RECORD]
[--codec Linear, UniformHue, InverseHue, RSColorizer]
[--min-distance MIN_DISTANCE]
[--max-distance MAX_DISTANCE] [--stream-name STREAM_NAME]
[--input video-capture,image,realsense,azure,camgear,zed]
[--input-size width height] [--input-fps INPUT_FPS]
[--input-rotate 90,-90,180] [--input-flip h,v]
[--input-mask INPUT_MASK] [--input-crop x y width height]
[--raw-input] [--channel CHANNEL]
[--input-skip INPUT_SKIP]
[--input-backend any,vfw,v4l,v4l2,firewire,fireware,ieee1394,dc1394,cmu1394,qt,unicap,dshow,pvapi,openni,openni_asus,android,xiapi,avfoundation,giganetix,msmf,winrt,intelperc,openni2,openni2_asus,gphoto2,gstreamer,ffmpeg,images,aravis,opencv_mjpeg,intel_mfx,xine]
[-src SOURCE] [--input-path INPUT_PATH]
[--input-delay INPUT_DELAY] [--exposure EXPOSURE]
[--gain GAIN] [--white-balance WHITE_BALANCE] [--depth]
[--depth-as-input] [-ir] [--rs-serial RS_SERIAL]
[--rs-json RS_JSON] [--rs-play-bag RS_PLAY_BAG]
[--rs-record-bag RS_RECORD_BAG] [--rs-disable-emitter]
[--rs-bag-offline]
[--rs-auto-exposure-limit RS_AUTO_EXPOSURE_LIMIT]
[--rs-auto-gain-limit RS_AUTO_GAIN_LIMIT]
[--rs-filter decimation,spatial,temporal,hole-filling [decimation,spatial,temporal,hole-filling ...]]
[--rs-color-scheme Jet,Classic,WhiteToBlack,BlackToWhite,Bio,Cold,Warm,Quantized,Pattern]
[--k4a-align-to-color] [--k4a-align-to-depth]
[--k4a-device K4A_DEVICE] [--k4a-depth-clipping min max]
[--k4a-ir-clipping min max] [--k4a-play-mkv K4A_PLAY_MKV]
[--k4a-record-mkv K4A_RECORD_MKV]
[--k4a-depth-mode OFF,NFOV_2X2BINNED,NFOV_UNBINNED,WFOV_2X2BINNED,WFOV_UNBINNED,PASSIVE_IR]
[--k4a-passive-ir]
[--k4a-color-resolution OFF,RES_720P,RES_1080P,RES_1440P,RES_1536P,RES_2160P,RES_3072P]
[--k4a-color-format COLOR_MJPG,COLOR_NV12,COLOR_YUY2,COLOR_BGRA32,DEPTH16,IR16,CUSTOM8,CUSTOM16,CUSTOM]
[--k4a-wired-sync-mode STANDALONE,MASTER,SUBORDINATE]
[--k4a-subordinate-delay-off-master-usec K4A_SUBORDINATE_DELAY_OFF_MASTER_USEC]
[--midas] [--mask]
[--segnet mediapipe,mediapipe-light,mediapipe-heavy]
[--parallel] [--num-threads NUM_THREADS] [--no-fastmath]
[--no-filter] [--no-preview] [--record-crf RECORD_CRF]
[--view-pcd] [--view-3d]
RGB-D framebuffer sharing demo for visiongraph.
options:
-h, --help show this help message and exit
-c CONFIG, --config CONFIG
Configuration file path.
-s SETTINGS, --settings SETTINGS
Settings file path (json).
--loglevel {critical,error,warning,info,debug}
Provide logging level. Example --loglevel debug,
default=warning
--record RECORD Record output into recordings folder.
--codec Linear, UniformHue, InverseHue, RSColorizer
Codec how the depth map will be encoded.
--min-distance MIN_DISTANCE
Min distance to perceive by the camera.
--max-distance MAX_DISTANCE
Max distance to perceive by the camera.
--stream-name STREAM_NAME
Spout / Syphon stream name.
input provider:
--input video-capture,image,realsense,azure,camgear,zed
Image input provider, default: video-capture.
--input-size width height
Requested input media size.
--input-fps INPUT_FPS
Requested input media framerate.
--input-rotate 90,-90,180
Rotate input media.
--input-flip h,v Flip input media.
--input-mask INPUT_MASK
Path to the input mask.
--input-crop x y width height
Crop input image.
--raw-input Skip automatic input conversion to 3-channel image.
--channel CHANNEL Input device channel (camera id, video path, image
sequence).
--input-skip INPUT_SKIP
If set the input will be skipped to the value in
milliseconds.
--input-backend any,vfw,v4l,v4l2,firewire,fireware,ieee1394,dc1394,cmu1394,qt,unicap,dshow,pvapi,openni,openni_asus,android,xiapi,avfoundation,giganetix,msmf,winrt,intelperc,openni2,openni2_asus,gphoto2,gstreamer,ffmpeg,images,aravis,opencv_mjpeg,intel_mfx,xine
VideoCapture API backends identifier., default: any.
-src SOURCE, --source SOURCE
Generic input source for all inputs.
--input-path INPUT_PATH
Path to the input image.
--input-delay INPUT_DELAY
Input delay time (s).
--exposure EXPOSURE Exposure value (usec) for depth camera input (disables
auto-exposure).
--gain GAIN Gain value for depth input (disables auto-exposure).
--white-balance WHITE_BALANCE
White-Balance value for depth input (disables auto-
white-balance).
--depth Enable RealSense depth stream.
--depth-as-input Use colored depth stream as input stream.
-ir, --infrared Use infrared as input stream.
--rs-serial RS_SERIAL
RealSense serial number to choose specific device.
--rs-json RS_JSON RealSense json configuration to apply.
--rs-play-bag RS_PLAY_BAG
Path to a pre-recorded bag file for playback.
--rs-record-bag RS_RECORD_BAG
Path to a bag file to store the current recording.
--rs-disable-emitter Disable RealSense IR emitter.
--rs-bag-offline Disable realtime bag playback.
--rs-auto-exposure-limit RS_AUTO_EXPOSURE_LIMIT
Auto exposure limit (ms).
--rs-auto-gain-limit RS_AUTO_GAIN_LIMIT
Auto gain limit (16-248).
--rs-filter decimation,spatial,temporal,hole-filling [decimation,spatial,temporal,hole-filling ...]
RealSense depth filter.
--rs-color-scheme Jet,Classic,WhiteToBlack,BlackToWhite,Bio,Cold,Warm,Quantized,Pattern
Color scheme for depth map, default: WhiteToBlack.
--k4a-align-to-color Align azure frames to color frame.
--k4a-align-to-depth Align azure frames to depth frame.
--k4a-device K4A_DEVICE
Azure device id.
--k4a-depth-clipping min max
Depth input clipping.
--k4a-ir-clipping min max
Infrared input clipping.
--k4a-play-mkv K4A_PLAY_MKV
Path to a pre-recorded bag file for playback.
--k4a-record-mkv K4A_RECORD_MKV
Path to a mkv file to store the current recording.
--k4a-depth-mode OFF,NFOV_2X2BINNED,NFOV_UNBINNED,WFOV_2X2BINNED,WFOV_UNBINNED,PASSIVE_IR
Azure depth mode, default: NFOV_UNBINNED.
--k4a-passive-ir Use passive IR input.
--k4a-color-resolution OFF,RES_720P,RES_1080P,RES_1440P,RES_1536P,RES_2160P,RES_3072P
Azure color resolution (overwrites input-size),
default: RES_720P.
--k4a-color-format COLOR_MJPG,COLOR_NV12,COLOR_YUY2,COLOR_BGRA32,DEPTH16,IR16,CUSTOM8,CUSTOM16,CUSTOM
Azure color image format, default: COLOR_BGRA32.
--k4a-wired-sync-mode STANDALONE,MASTER,SUBORDINATE
Synchronization mode when connecting two or more
devices together, default: STANDALONE.
--k4a-subordinate-delay-off-master-usec K4A_SUBORDINATE_DELAY_OFF_MASTER_USEC
The external synchronization timing.
--midas Use midas for depth capture.
masking:
--mask Apply mask by segmentation algorithm.
--segnet mediapipe,mediapipe-light,mediapipe-heavy
Segmentation Network, default: mediapipe.
performance:
--parallel Enable parallel for codec operations.
--num-threads NUM_THREADS
Number of threads for parallelization.
--no-fastmath Disable fastmath for codec operations.
debug:
--no-filter Disable realsense image filter.
--no-preview Disable preview to speed.
--record-crf RECORD_CRF
Recording compression rate.
--view-pcd Display PCB preview (deprecated, use --view-3d).
--view-3d Display PCB preview.
Args that start with '--' can also be set in a config file (specified via -c).
Config file syntax allows: key=value, flag=true, stuff=[a,b,c] (for details,
see syntax at https://goo.gl/R74nmi). In general, command-line values override
config file values which override defaults.
```
### About
Copyright (c) 2024 Florian Bruggisser
Raw data
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"description": "# Space Stream [](https://pypi.org/project/space-stream/)\nSend RGB-D images over spout / syphon with visiongraph.\n\n\n*Source: Intel\u00ae RealSense\u2122 [Sample Data](https://github.com/IntelRealSense/librealsense/blob/master/doc/sample-data.md)*\n\n### Installation\nIt is recommended to use `Python 11` (`Python 3.8`, `Python 3.9` or `Python 3.10` should work too) and should run on any OS. First create a new [virtualenv](https://docs.python.org/3/library/venv.html) and activate it. \nAfter that install all dependencies:\n\n```bash\npip install space-stream\n```\n\n#### ZED Camera\nTo be able to use a ZED Camera, please follow the tutorial on the [ZED Python API](https://www.stereolabs.com/docs/app-development/python/install/) website.\n\n1. Install the [ZED SDK](https://www.stereolabs.com/developers/release/) (together with CUDA)\n2. Run the command `python \"C:\\Program Files (x86)\\ZED SDK\\get_python_api.py\"` inside the virtual python environment\n\n### Usage\nSimply run the `spacestream` module with the following command to run a capturing pipeline (RealSense based). After that you can open a [spout receiver](https://github.com/leadedge/Spout2/releases) / syphon receiver and check the result there.\n\n```\nspace-stream --input realsense\n```\n\nTo use the Azure Kinect use the `azure` input type:\n\n```\nspace-stream --input azure\n```\n\n### Build\n\n```bash\npython setup.py distribute\n```\n\n### Development\nTo develop with this project, clone the git repository and install the dependencies from the requirements:\n\n```bash\npip install -r requirements.txt\n```\n\nTo call the module directly, use the `-m` command from python:\n\n```\npython -m spacestream\n```\n\n#### Depth Codec\nBy default the depthmap is encoded by the linear codec. It is possible to change the behaviour to use a specific encoding method. Be aware that some functions have an impact on performance. Here is a list of all available codecs:\n\n```\nLinear,\nUniformHue\nInverseHue\n```\n\nThe codecs `UniformHue` and `InverseHue` are implemented according to the Intel whitepaper about [Depth image compression by colorization](https://dev.intelrealsense.com/docs/depth-image-compression-by-colorization-for-intel-realsense-depth-cameras).\n\n#### Bit Depth\nThe encoded bit-depth depends on the codec used. For `Linear` codec there are two different bit-depths encoded. First the `8-bit` encoding in the `red` channel and `16-bit` encoded values in the `green` (MSB) and `blue` (LSB) channel.\n\n#### Distance Range\nTo define the min and max distance to encode, use the `--min-distance` and `--max-distance` parameter.\n\n#### Help\n\n```\nusage: space-stream [-h] [-c CONFIG] [-s SETTINGS]\n [--loglevel {critical,error,warning,info,debug}]\n [--record RECORD]\n [--codec Linear, UniformHue, InverseHue, RSColorizer]\n [--min-distance MIN_DISTANCE]\n [--max-distance MAX_DISTANCE] [--stream-name STREAM_NAME]\n [--input video-capture,image,realsense,azure,camgear,zed]\n [--input-size width height] [--input-fps INPUT_FPS]\n [--input-rotate 90,-90,180] [--input-flip h,v]\n [--input-mask INPUT_MASK] [--input-crop x y width height]\n [--raw-input] [--channel CHANNEL]\n [--input-skip INPUT_SKIP]\n [--input-backend any,vfw,v4l,v4l2,firewire,fireware,ieee1394,dc1394,cmu1394,qt,unicap,dshow,pvapi,openni,openni_asus,android,xiapi,avfoundation,giganetix,msmf,winrt,intelperc,openni2,openni2_asus,gphoto2,gstreamer,ffmpeg,images,aravis,opencv_mjpeg,intel_mfx,xine]\n [-src SOURCE] [--input-path INPUT_PATH]\n [--input-delay INPUT_DELAY] [--exposure EXPOSURE]\n [--gain GAIN] [--white-balance WHITE_BALANCE] [--depth]\n [--depth-as-input] [-ir] [--rs-serial RS_SERIAL]\n [--rs-json RS_JSON] [--rs-play-bag RS_PLAY_BAG]\n [--rs-record-bag RS_RECORD_BAG] [--rs-disable-emitter]\n [--rs-bag-offline]\n [--rs-auto-exposure-limit RS_AUTO_EXPOSURE_LIMIT]\n [--rs-auto-gain-limit RS_AUTO_GAIN_LIMIT]\n [--rs-filter decimation,spatial,temporal,hole-filling [decimation,spatial,temporal,hole-filling ...]]\n [--rs-color-scheme Jet,Classic,WhiteToBlack,BlackToWhite,Bio,Cold,Warm,Quantized,Pattern]\n [--k4a-align-to-color] [--k4a-align-to-depth]\n [--k4a-device K4A_DEVICE] [--k4a-depth-clipping min max]\n [--k4a-ir-clipping min max] [--k4a-play-mkv K4A_PLAY_MKV]\n [--k4a-record-mkv K4A_RECORD_MKV]\n [--k4a-depth-mode OFF,NFOV_2X2BINNED,NFOV_UNBINNED,WFOV_2X2BINNED,WFOV_UNBINNED,PASSIVE_IR]\n [--k4a-passive-ir]\n [--k4a-color-resolution OFF,RES_720P,RES_1080P,RES_1440P,RES_1536P,RES_2160P,RES_3072P]\n [--k4a-color-format COLOR_MJPG,COLOR_NV12,COLOR_YUY2,COLOR_BGRA32,DEPTH16,IR16,CUSTOM8,CUSTOM16,CUSTOM]\n [--k4a-wired-sync-mode STANDALONE,MASTER,SUBORDINATE]\n [--k4a-subordinate-delay-off-master-usec K4A_SUBORDINATE_DELAY_OFF_MASTER_USEC]\n [--midas] [--mask]\n [--segnet mediapipe,mediapipe-light,mediapipe-heavy]\n [--parallel] [--num-threads NUM_THREADS] [--no-fastmath]\n [--no-filter] [--no-preview] [--record-crf RECORD_CRF]\n [--view-pcd] [--view-3d]\n\nRGB-D framebuffer sharing demo for visiongraph.\n\noptions:\n -h, --help show this help message and exit\n -c CONFIG, --config CONFIG\n Configuration file path.\n -s SETTINGS, --settings SETTINGS\n Settings file path (json).\n --loglevel {critical,error,warning,info,debug}\n Provide logging level. Example --loglevel debug,\n default=warning\n --record RECORD Record output into recordings folder.\n --codec Linear, UniformHue, InverseHue, RSColorizer\n Codec how the depth map will be encoded.\n --min-distance MIN_DISTANCE\n Min distance to perceive by the camera.\n --max-distance MAX_DISTANCE\n Max distance to perceive by the camera.\n --stream-name STREAM_NAME\n Spout / Syphon stream name.\n\ninput provider:\n --input video-capture,image,realsense,azure,camgear,zed\n Image input provider, default: video-capture.\n --input-size width height\n Requested input media size.\n --input-fps INPUT_FPS\n Requested input media framerate.\n --input-rotate 90,-90,180\n Rotate input media.\n --input-flip h,v Flip input media.\n --input-mask INPUT_MASK\n Path to the input mask.\n --input-crop x y width height\n Crop input image.\n --raw-input Skip automatic input conversion to 3-channel image.\n --channel CHANNEL Input device channel (camera id, video path, image\n sequence).\n --input-skip INPUT_SKIP\n If set the input will be skipped to the value in\n milliseconds.\n --input-backend any,vfw,v4l,v4l2,firewire,fireware,ieee1394,dc1394,cmu1394,qt,unicap,dshow,pvapi,openni,openni_asus,android,xiapi,avfoundation,giganetix,msmf,winrt,intelperc,openni2,openni2_asus,gphoto2,gstreamer,ffmpeg,images,aravis,opencv_mjpeg,intel_mfx,xine\n VideoCapture API backends identifier., default: any.\n -src SOURCE, --source SOURCE\n Generic input source for all inputs.\n --input-path INPUT_PATH\n Path to the input image.\n --input-delay INPUT_DELAY\n Input delay time (s).\n --exposure EXPOSURE Exposure value (usec) for depth camera input (disables\n auto-exposure).\n --gain GAIN Gain value for depth input (disables auto-exposure).\n --white-balance WHITE_BALANCE\n White-Balance value for depth input (disables auto-\n white-balance).\n --depth Enable RealSense depth stream.\n --depth-as-input Use colored depth stream as input stream.\n -ir, --infrared Use infrared as input stream.\n --rs-serial RS_SERIAL\n RealSense serial number to choose specific device.\n --rs-json RS_JSON RealSense json configuration to apply.\n --rs-play-bag RS_PLAY_BAG\n Path to a pre-recorded bag file for playback.\n --rs-record-bag RS_RECORD_BAG\n Path to a bag file to store the current recording.\n --rs-disable-emitter Disable RealSense IR emitter.\n --rs-bag-offline Disable realtime bag playback.\n --rs-auto-exposure-limit RS_AUTO_EXPOSURE_LIMIT\n Auto exposure limit (ms).\n --rs-auto-gain-limit RS_AUTO_GAIN_LIMIT\n Auto gain limit (16-248).\n --rs-filter decimation,spatial,temporal,hole-filling [decimation,spatial,temporal,hole-filling ...]\n RealSense depth filter.\n --rs-color-scheme Jet,Classic,WhiteToBlack,BlackToWhite,Bio,Cold,Warm,Quantized,Pattern\n Color scheme for depth map, default: WhiteToBlack.\n --k4a-align-to-color Align azure frames to color frame.\n --k4a-align-to-depth Align azure frames to depth frame.\n --k4a-device K4A_DEVICE\n Azure device id.\n --k4a-depth-clipping min max\n Depth input clipping.\n --k4a-ir-clipping min max\n Infrared input clipping.\n --k4a-play-mkv K4A_PLAY_MKV\n Path to a pre-recorded bag file for playback.\n --k4a-record-mkv K4A_RECORD_MKV\n Path to a mkv file to store the current recording.\n --k4a-depth-mode OFF,NFOV_2X2BINNED,NFOV_UNBINNED,WFOV_2X2BINNED,WFOV_UNBINNED,PASSIVE_IR\n Azure depth mode, default: NFOV_UNBINNED.\n --k4a-passive-ir Use passive IR input.\n --k4a-color-resolution OFF,RES_720P,RES_1080P,RES_1440P,RES_1536P,RES_2160P,RES_3072P\n Azure color resolution (overwrites input-size),\n default: RES_720P.\n --k4a-color-format COLOR_MJPG,COLOR_NV12,COLOR_YUY2,COLOR_BGRA32,DEPTH16,IR16,CUSTOM8,CUSTOM16,CUSTOM\n Azure color image format, default: COLOR_BGRA32.\n --k4a-wired-sync-mode STANDALONE,MASTER,SUBORDINATE\n Synchronization mode when connecting two or more\n devices together, default: STANDALONE.\n --k4a-subordinate-delay-off-master-usec K4A_SUBORDINATE_DELAY_OFF_MASTER_USEC\n The external synchronization timing.\n --midas Use midas for depth capture.\n\nmasking:\n --mask Apply mask by segmentation algorithm.\n --segnet mediapipe,mediapipe-light,mediapipe-heavy\n Segmentation Network, default: mediapipe.\n\nperformance:\n --parallel Enable parallel for codec operations.\n --num-threads NUM_THREADS\n Number of threads for parallelization.\n --no-fastmath Disable fastmath for codec operations.\n\ndebug:\n --no-filter Disable realsense image filter.\n --no-preview Disable preview to speed.\n --record-crf RECORD_CRF\n Recording compression rate.\n --view-pcd Display PCB preview (deprecated, use --view-3d).\n --view-3d Display PCB preview.\n\nArgs that start with '--' can also be set in a config file (specified via -c).\nConfig file syntax allows: key=value, flag=true, stuff=[a,b,c] (for details,\nsee syntax at https://goo.gl/R74nmi). In general, command-line values override\nconfig file values which override defaults.\n```\n\n### About\nCopyright (c) 2024 Florian Bruggisser\n",
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