python

Python Wrapper

Table of Contents

• Installation Guide
• Examples

Installation Guide

Ubuntu 14.04/16.04 LTS Installation

1. Ensure apt-get is up to date

• sudo apt-get update && sudo apt-get upgrade
• Note: Use sudo apt-get dist-upgrade, instead of sudo apt-get upgrade, in case you have an older Ubuntu 14.04 version

2. Install Python and its development files via apt-get (Python 2 and 3 both work)

• sudo apt-get install python python-dev or sudo apt-get install python3 python3-dev
• Note: The project will only use Python2 if it can't use Python3

3. run the toplevel cmake command with the following additional flag: -DBUILD_PYTHON_BINDINGS=bool:true
4. update your PYTHONPATH environment variable to add the path to the pyrealsense library

• export PYTHONPATH=$PYTHONPATH:/usr/local/lib

Note: To force compilation with a specific version on a system with both Python 2 and Python 3 installed, add the following flag to CMake command: -DPYTHON_EXECUTABLE=[full path to the exact python executable]

Windows Installation

1. Install Python 2 or 3 for windows. You can find the downloads on the official Python website here
2. When running cmake-gui, select the BUILD_PYTHON_BINDINGS option
3. If you have multiple python installations on your machine you can use: -DPYTHON_EXECUTABLE=<path to python executable> For example: -DPYTHON_EXECUTABLE=C:/Python27/python.exe

The precompiled binaries shipped with the installer assume python2.7. The error ImportError: DLL load failed: The specified module could not be found might indicate versions mismatch or architecture (x86 vs x64) mismatch.

Examples

For a list of full code examples see the examples folder

Streaming using rs.pipeline

# First import the library
import pyrealsense2 as rs

try:
    # Create a context object. This object owns the handles to all connected realsense devices
    pipeline = rs.pipeline()
    pipeline.start()

    while True:
        # This call waits until a new coherent set of frames is available on a device
        # Calls to get_frame_data(...) and get_frame_timestamp(...) on a device will return stable values until wait_for_frames(...) is called
        frames = pipeline.wait_for_frames()
        depth = frames.get_depth_frame()
        if not depth: continue

        # Print a simple text-based representation of the image, by breaking it into 10x20 pixel regions and approximating the coverage of pixels within one meter
        coverage = [0]*64
        for y in xrange(480):
            for x in xrange(640):
                dist = depth.get_distance(x, y)
                if 0 < dist and dist < 1:
                    coverage[x/10] += 1

            if y%20 is 19:
                line = ""
                for c in coverage:
                    line += " .:nhBXWW"[c/25]
                coverage = [0]*64
                print(line)

NumPy Integration

Librealsense frames support the buffer protocol. A numpy array can be constructed using this protocol with no data marshalling overhead:

import numpy as np
depth = frames.get_depth_frame()
depth_data = depth.as_frame().get_data()
np_image = np.asanyarray(depth_data)