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Intel RealSense

Intel RealSense is a 3D camera connected via USB

See Also

• Intel RealSense Facial Recognition
• OpenCV
• Wikipedia
• GitHub
• https://shopflashsale.net/product/intel-realsense-d415-webcam-30-fps-usb-3-0-82635asrcdvkhv

Mac

• Mac RealSense Installation Notes

Instead of

  brew install homebrew/core/glfw3

Use

  brew install glfw3

Set up:

    brew install libusb pkg-config
    brew install glfw3
    brew install cmake

Download, configure for makefiles and build:

    git clone https://github.com/IntelRealSense/librealsense
    cd librealsense
    mkdir build && cd build
    cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false       -DBUILD_GRAPHICAL_EXAMPLES=true -DBUILD_PYTHON_BINDINGS=true -DBUILD_PYTHON_DOCS=true       -DPYTHON_EXECUTABLE=/opt/local/bin/python3.10 -G "Unix Makefiles"
    make

Mac Python

Mac Python 2.x

Here's what worked for me under macOS 10.14.4 (Mojave) with /usr/bin/python 2.7.10:

See below for details.

Mac Python 2.x problems

https://github.com/IntelRealSense/librealsense/issues/3260 How can i build the python wrapper from source in mac os environment suggests using PYTHON_EXECUTABLE:

However, I have no /Library/Frameworks/Python.framework, instead it is at /System/Library/Frameworks/Python.framework

So I did:

• https://stackoverflow.com/questions/39927235/alternative-for-the-dyld-library-path-trick-since-mac-os-10-11-el-capitan-with-sAlternative for the DYLD_LIBRARY_PATH-trick since Mac OS 10.11 El Capitan with System Integrity Protection suggests

   -DCMAKE_MACOSX_RPATH=ON 
   -DCMAKE_INSTALL_RPATH="/opt/dev/versions/vtk/vtk-7.1.0-shared/lib" 

So I tried:

   cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=/System/Library/Frameworks/Python.framework/Versions/2.7/bin/python -DCMAKE_MACOSX_RPATH=ON -DCMAKE_INSTALL_RPATH="/usr/local/lib" -G "Unix Makefiles"

I want to support both Python 2.x and 3.x. So, I created a /usr/local/realsense/python/2.7.10/

  rm *.dylib wrappers/python/*.so
  cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=/System/Library/Frameworks/Python.framework/Versions/2.7/bin/python -DCMAKE_MACOSX_RPATH=ON -DCMAKE_INSTALL_RPATH="/usr/local/realsense/python/2.7.10" -DCMAKE_INSTALL_PREFIX="/usr/local/realsense/python/2.7.10" -G "Unix Makefiles"
  make install

However, running (cd ../wrappers/python; cp /usr/local/realsense/python/2.7.10/lib/*.so /usr/local/realsense/python/2.7.10/lib/*.dylib pyrealsense2; python setup.py install) fails:

  Traceback (most recent call last):
    File "setup.py", line 5, in <module>
      from pyrealsense2._version import __version__
    File "/Users/cxh/src/librealsense/wrappers/python/pyrealsense2/__init__.py", line 2, in <module>
      from .pyrealsense2 import *
  ImportError: dlopen(/Users/cxh/src/librealsense/wrappers/python/pyrealsense2/pyrealsense2.so, 2): Library not loaded: @rpath/librealsense2.2.35.dylib
    Referenced from: /Users/cxh/src/librealsense/wrappers/python/pyrealsense2/pyrealsense2.so
    Reason: image not found

Switching back to the previous cmake:

  cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=/System/Library/Frameworks/Python.framework/Versions/2.7/bin/python -DCMAKE_MACOSX_RPATH=ON -DCMAKE_INSTALL_RPATH="/usr/local/lib" -G "Unix Makefiles"
  rm *.dylib wrappers/python/*.so
  make install
  cd ../wrappers/python/
  cp /usr/local/lib/*realsense* pyrealsense2/

  bash-3.2$ python setup.py install
  python setup.py install
  Traceback (most recent call last):
    File "setup.py", line 5, in <module>
      from pyrealsense2._version import __version__
  ImportError: No module named _version
  bash-3.2$ 

  python find_librs_version.py /usr/local/ pyrealsense2

  python setup.py install 

Fails with a permissions problem, but sudo -i and then running that command seems to work!

Mac Python 3.x

February 2023: pyrealsense2 support for Python 3.11 #11362 is incomplete, so use Python 3.10

Sample run:

Mac Python3 problems

python2.7: bad interpreter

Solution: /usr/local/bin/sphinx-build referred to python2.7, updated it to refer to python3.10

Then

  pip3 install sphinx

Note that I had to be sure that pip3 corresponded with the version of python with which cmake was configured.

Mac Node.js

    npm install -g jsdoc
    npm install -g node-gyp 
    cd ../wrappers/nodejs
    npm install

Missing library

Error:

Solution:

Error: Cannot find module 'node-glfw-3'

Solution:

   npm install node-glfw-3

Also:

   npm install performance-now

Then, this starts up:

   node nodejs-capture.js

node nodejs-capture.js hangs

Running

   node nodejs-capture.js 

hangs.

Adding logging statements to nodejs-capture.js

and then running:

In librealsense/wrappers/nodejs/test, add console.log() to test-pipeline.js

Run:

The above was with node --version v7.10.1

I installed a new version of node:

Edited test-devicelist.js and added console.log()

Then I tried /usr/local/bin/rs-enumerate-devices and it hung, so I unplugged the D415 and plugged it back in and then /usr/local/bin/rs-enumerate-devices worked. Now the test hangs elsewhere. I added more console.log() statements to test-devicelist.js:

and then it hangs.

See Bug #1592: Mac Node test-devicelist.js hangs

Intel RealSense Java interface

• have no java wrapper points to
  • https://github.com/edwinRNDR/librealsense
    • Running gradle build fails with
      * What went wrong:
      A problem was found with the configuration of task ':nativeJavah'.
      > Value '[/Users/cxh/src/opencv/librealsense/wrappers/java/build/classes/main/jar]' specified for property \
      '$1' cannot be converted to a directory.
      

      [$[Get Code]]
    • problems with gradle build on OSX suggests that the problem is that the code requires gradle before gradle 5.0. Running ./gradelw build seems to work.

How to build the Intel RealSense Java interface

1. Clone and build the librealsense library, following the https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_osx.md macOS instructions. However, instead of build for XCode, build makefiles with:
   cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -G "Unix Makefiles"
   

   [$[Get Code]]
   Then run make
2. In a separate directory, clone https://github.com/edwinRNDR/librealsense
   cd /tmp
   git clone https://github.com/edwinRNDR/librealsense
   

   [$[Get Code]]
3. Copy the wrappers/java directory from the edwinRNDR directory to the master librealsense directory. Assuming that the master librealsense directory was cloned in ~/src/librealsense :
   cd librealsense/wrappers
   tar -cf - java | ( cd ~/src/librealsense/wrappers/; tar -xf -)
   

   [$[Get Code]]
4. Go to the librealsense/wrappers/java directory and edit build.gradle, changing
   linker.args "${project.projectDir}/../../librealsense2.dylib"
   

   [$[Get Code]]
   to
   linker.args "${project.projectDir}/../../build/librealsense2.dylib"
   

   [$[Get Code]]
   This is necessary because we ran cmake in the librealsense/build directory, which created the shared library in that directory, not in the librealsense directory
5. Build!
   ./gradlew build
   

   [$[Get Code]]
   Note that we need to use gradle 4.9 here. Gradle 5.0 will fail with a message about nativeJavaH, see above.

Note about Gradle org.bven.jniplugin

build.gradle contains

        id 'org.bven.jniplugin' version '0.0.5'

The source for that plugin is at https://github.com/bgorven/JNIBuilder

After cloning that repo, run gradle build to create the jar file.

To update the jar file, first find the jar file in your ~/.gradle directory

    find ~/.gradle JNIBuilder-0.0.5.jar

Then update the file. I did:

     mv build/libs/JNIBuilder-0.0.5.jar /Users/cxh/.gradle/caches/modules-2/files-2.1/gradle.plugin.org.bven.jniplugin/JNIBuilder/0.0.5/d6eb706c958f7bc78752d31f32c60014295f869e/JNIBuilder-0.0.5.jar

Your paths will be different.

Intel RealSense under VirtualBox

  Failed to attach the USB device Intel(R) RealSense(TM) Depth Camera 435 [50C0] to the virtual machine Windows 10

  Failed to create a proxy for the USB device. (Error: VER_PDM_NO_USB_PORTS)
  Result code: NS_ERROR_FAILURE (0x80004005)
  Component: Console Wrap
  Interface: IConsole {87...}

• [https://github.com/IntelRealSense/librealsense/issues/2017 Issue 2017: Error when try to attach D415 to a virtual machine]
  • "Yes... but it does not work with Oracle VM Virtual Box. Virtual Box does not have a full support for USB devices. We solved the problem using VMWare which has a good USB support and it works fine."

However, if I plug it in to another port on my MacBook Pro, then Virtual Box sees the device in its USB menu, but the Intel tools do not see it.