Pyrealsense
Simple ctypes extension to the librealsense library.
Dependencies
The library depends on pycparser for parsing the librealsense h files and extract enums and structures definitions. Numpy is used for generic data shuffling.
Installation
python setup.py install
Usage
## setup logging
import logging
logging.basicConfig(level=logging.INFO)
## import the package
import pyrealsense as pyrs
## start the service
pyrs.start()
## create a device from device id and streams of interest
cam = pyrs.Device(device_id = 0, streams = [pyrs.ColourStream(fps=60)])
## wait for data and retrieve numpy array
cam.wait_for_frame()
print(cam.colour)
The server for Realsense devices is started with pyrs.start() which will printout the number of devices available.
Different devices can be created from the Device class. They are defined by device id and streams passed on creation. The default behaviour create a device with id = 0 and setup the colour, depth, pointcloud and colour_aligned_depth streams.
The available streams are either native or synthetic, and each one will create a property on the Device instance that exposes the current content of the frame buffer in the form of device.<stream_name>, where <stream_name> is colour, depth, points, cad or dac. To get access to new data, Device.wait_for_frame has to be called.
Caveats
To this point, this wrapper has only been tested with:
- Ubuntu 16.04 LTS
- Python 2.7
- SR300 camera
- librealsense v1.9.7
Build Status
Ubuntu Trusty, python 2 and 3:
