[Mac] Run the RealSense D415 sample in Python

What is RealSense D415?

Realsense provided by Intel is a camera device with a depth perception function. It doesn't officially support mac, but it can be run with an unofficial library called librealsense.

environment

• macBookPro(13-inch, 2017, Twoo Thunderbolt 3ports)
• macOS Catalina 10.15.7
• zsh --Homebrew installed --Python environment has been built with Pyenv

Environment construction procedure

Install the required libraries

Open a terminal and execute the following command line by line in your home directory

Terminal

$ brew install python
$ brew install libusb pkg-config
$ brew install homebrew/core/glfw3
$ brew install cmake
$ brew install boost
$ brew install flann
$ brew install vtk5 –with-qt
$ git clone https://github.com/PointCloudLibrary/pcl
$ cd pcl
$ mkdir build && cd build
$ cmake ..
$ make
$ sudo make install

Install & build librealsense source code

Return to your home directory with the cd command and install the main body of librealsense. Replace the absolute path of Python you are using on the third line with the path output by which python.

Terminal

$ git clone https://github.com/IntelRealSense/librealsense.git
$ cd librealsense
$ mkdir build && cd build
$ cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE:FILEPATH=Absolute path of Pyhton you are using-G "Unix Makefiles"
$ make -j2
$ sudo make install

In my environment, the Python version did not work on 3.8 series, so change the version to 3.6 series in advance (this time I will use python 3.6.7) Return to the / libresense directory

Terminal

$ pyenv install 3.6.7
$ pyenv local 3.6.7

Use the pyenv versions command to check that the area under the/libresense directory is python3.6.7. Also, I think that it will not work as it is, so check the location where the so file is stored (hereinafter A) by the following procedure.

1. Open librealsense/build/CMakeCache.txt with VS Code etc.
2. Open the search window with command + F and search for PYTHON_INSTALL_DIR: PATH
3. The directory where .xxx, which says PYTHON_INSTALL_DIR: PATH: PATH = xxx, is the so file (A)

Check where to put the symbolic (B)

Terminal

$ python3
>>>import site; site.getsitepackages()

After that, move to the confirmed location (B) and create a symbolic

Terminal

$Absolute path to cd B
$ ln -s Confirmed so file path(A)/pyrealsense2.cpython-36m-darwin.so pyrealsense2.so
$ ln -s Confirmed so file path(A)/pybackend2.cpython-36m-darwin.so pybackend2.so

Check if the import of pyrealsense2 passes

Terminal

$ python
>>> import pyrealsense2
>>>

If import passes like this, it's OK

Move the sample

Connect mac and Realsense via USB, move to the directory where the sample files are located, and execute

Terminal

$ cd ~/librealsense/wrappers/python/examples
$python File name you want to run

reference (Reference Qiita1) [https://qiita.com/mizumasa/items/c6ca2c73fa86c9a5a39c]

(Reference Qiita2) [https://qiita.com/comachi/items/14b358568365bc5ee474]