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Python Wrapper for FRAMOS D400e camera series

This readme file provides instructions on how to use the D400e camera series with Python.

Supported platforms

Linux x86_64 - Ubuntu 18 LTS, Ubuntu 20 LTS, Ubuntu 22 LTS

Linux ARM64 - Jetson TX2, Jetson Xavier, L4T 32.7.4, L4T 35.3.1

Windows x86_64

Windows x86

Prerequisites

FRAMOS CameraSuite version 4.10.1.0 or higher

Intel® RealSense™ SDK with support for D400e cameras version 2.50.12 or higher

Python versions 3.7, 3.8, 3.9, 3.10, 3.11 are supported

Notes

The pyrealsense2 wrapper that is part of this package supports the D400e camera series.

The pyrealsense2 wrapper available from pip does not support the D400e camera series.

The pybackend2 wrapper that is part of this package does not support the D400e camera series.

Linux

Install required packages:

sudo apt install gcc g++ cmake libglfw3-dev libgtk-3-dev git libssl-dev libusb-1.0-0-dev pkg-config python3 python3-dev python3-pip

Additional packages are required on Ubuntu 18, Ubuntu 20 and Ubuntu 22:

sudo apt install libgl1-mesa-dev libglu1-mesa-dev

Install Python packages required by some of the Python examples on x86_64:

pip3 install --user opencv-python

pip3 install --user pyglet==1.4.11

Install Python packages required by some of the Python examples on the Jetson platforms:

sudo apt install python3-opencv

Copy the sources to a folder with user permissions, for example home:

cp -r /usr/src/librealsense2 ~

Create a build folder:

cd ~/librealsense2
mkdir build
cd build

Generate Makefiles with cmake:

cmake ../ -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_BUILD_TYPE=Release

Build with make:

make -j$(nproc)

Copy the pyrealsense library next to the example and run it:

cd ~/librealsense2/wrappers/python/examples
cp ~/librealsense2/build/wrappers/python/pyrealsense2* .
python3 align-depth2color.py

Jetson platform specific

Extra steps for lunching python examples, needed only on jetson platform.

Export LD_PRELOAD:

echo "export LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libgomp.so.1" >> ~/.bashrc
source ~/.bashrc

Export OPENBLAS_CORETYPE:

echo "export OPENBLAS_CORETYPE=ARMV8" >> ~/.bashrc
source ~/.bashrc

Windows

Build the pyrealsense Python wrapper from source.

Following tools are required for building the Intel® RealSense™ library:

  • Visual Studio 2015
  • CMake
  • Git
  • Python (supported versions are 3.7, 3.8, 3.9, 3.10, 3.11)

Sources for Intel® RealSense™ library, tools and examples are located in

C:\Program Files\FRAMOS\librealsense2\src

This folder is owned by the administrator. Before proceeding with the build, copy it to a location owned by the user.

Launch the CMake GUI tool. Set Where is the source code to the location of the copied src folder. Set Where to build the binaries to the location of the copied src folder with the /build suffix. Press the Configure button to update CMake values. Make sure to select the Visual Studio 14 2015 generator and x64 optional platform when prompted. Select the option BUILD_PYTHON_BINDINGS. Press the Generate button to generate the Visual Studio Solution. Press the Open Project button to open the generated Visual Studio Solution. Inside the solution, set the build type to Release and build the wrapper by right clicking on the pyrealsense2 projects and selecting Build.

The wrapper must be copied next to the Python script along with required dependencies.

Copy the Python wrapper (name may include additional information)

  • pyrealsense2.pyd

Copy the RealSense library with support for D400e camera series from Program Files\FRAMOS\librealsense2\bin

  • realsense2.dll

Copy the contents of Program Files\FRAMOS\CameraSuite\bin

  • CameraSuite.dll

Copy the contents of Program Files\FRAMOS\CameraSuite\GenICam_v3_0\bin\Win64_x64

  • GCBase_MD_VC120_v3_0.dll
  • GenApi_MD_VC120_v3_0.dll
  • Log_MD_VC120_v3_0.dll
  • MathParser_MD_VC120_v3_0.dll
  • NodeMapData_MD_VC120_v3_0.dll
  • XmlParser_MD_VC120_v3_0.dll

Install Python3 OpenCV package, required by some examples

pip3 install --user opencv-python

Install Python3 Pyglet package, required by Pyglet-PointCloud-Viewer example

pip3 install --user pyglet==1.4.11