Vzense ToF Camera Bindings for Rust

This library provides high-level bindings to connect to and read data from Vzense Time of Flight (ToF) Cameras. The underlying low-level FFI crate vzense-sys was created with bindgen.

OS support

Currently only Linux is supported (for MacOS, Vzense unfortunately does not provide drivers). The library is based on the Scepter SDK and Vzense SDK repositories and was tested on Debian 12.8, but should also work on other distros based on it, like Ubuntu. Support for other platforms (e.g., AArch64) is possible using the respective headers and libraries from the repositories and rebuilding the bindings (support can be added upon request).

Camera support

The scepter module supports NYX650/660, DS86/87, DS77C, and DS77 cameras. (Only NYX650 has been tested so far.)

The dcam560 module is specifically for the Vzense DCAM560 camera but other models like DCAM305, DCAM550, and DCAM710 can be added upon request. (Only DCAM560 has been tested so far.)

Example and Usage

The scepter module is used by default. To use the dcam560 module, set default = ["dcam560"] under [features] in Cargo.toml.

The basic example covers all the functionality provided by the library and can be run with cargo run --example basic. To stream with maximum frame rate add --release.

The show-image crate is used to display data.

For a standalone binary to find links (stored in <projectDir>/target/<buildType>/deps/) to the shared dynamic libraries, one can use for example chrpath to set the rpath accordingly after the build with chrpath -r <projectDir>/target/<buildType>/deps/ <binary>.

Note: There is an issue that data for the "color mapped to depth frame" is not available for the NYX650 camera if running with --release. Please see here for details.

License

This project is licensed under the terms of the MIT and BSD-3-Clause License.