[Active IR Stereo Camera][Intel Realsense][pyrealsense2] Install pyrealsense2 on Jetson AGX Xavier

ENV.

Jetson AGX Xavier with JetPack 4.5.1

Ubuntu 18.04

 

 

Building From Source

---

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
$ sudo apt-get install python3 python3-dev

• • Note: The project will only use Python 2 if it can't use Python 3

 

3. Run the top level CMake command with the following additional flag-DBUILD_PYTHON_BINDINGS:bool=true:

$ git clone https://github.com/IntelRealSense/librealsense.git
$ cd ./librealsense
$ mkdir build
$ cd build
$ cmake ../ -DBUILD_PYTHON_BINDINGS:bool=true

• 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]
• Error
  

  Could NOT find OpenSSL, try to set the path to OpenSSL root folder in the
    system variable OPENSSL_ROOT_DIR (missing: OPENSSL_CRYPTO_LIBRARY
    OPENSSL_INCLUDE_DIR)
    
  $ sudo apt-get install libssl-dev​

  The Xinerama headers were not found
  
  $ sudo apt-get install xorg-dev libglu1-mesa-dev​

$ make -j4
$ sudo make install

 

4. update your PYTHONPATH environment variable to add the path to the pyrealsense library

$ export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.6/pyrealsense2
$ source ~/.bashrc

 

 

5. Alternatively, copy the build output (librealsense2.so and pyrealsense2.so) next to your script.

• Note: Python 3 module filenames may contain additional information, e.g. pyrealsense2.cpython-35m-arm-linux-gnueabihf.so)

 

 

 

 

 

 

Examples

---

For a list of full code examples see the examples folder

 

# First import the library
import pyrealsense2 as rs

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

try:
    while True:
        # Create a pipeline object. This object configures the streaming camera and owns it's handle
        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)

finally:
    pipeline.stop()

 

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)

 

 

 

 

 

 

ref.

https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python

IntelRealSense/librealsense