====== Intel Realsense======
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**{{tagpage>skeleton camera3D|Les pages sur les caméras 3D et la détection de squelette}}**     **[[http://translate.google.com/translate?hl=&sl=auto&tl=en&u=https%3A%2F%2Fressources.labomedia.org%2Fintel_realsense|English Version]]**
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===== Ressources =====

  * **[[cameras_de_profondeur|Camera Realsense Installation]] Intel® RealSense™ Computer Vision - Depth and Tracking cameras**

  * [[https://intelrealsense.github.io/librealsense/python_docs/_generated/pyrealsense2.html|API python]]
  * [[https://pyrealsense.readthedocs.io/en/master/pyrealsense.html|pyrealsense.readthedocs.io]]
  * [[https://github.com/IntelRealSense/librealsense/tree/development/wrappers/python/examples| Exemples python sur GitHub]]

=====Installation du driver du Capteur D455=====
  * **[[https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md|github.com librealsense doc linux]]**

Validé sur Debian 11 Bullseye

<code bash>
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo apt install software-properties-common
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo focal main" -u
</code>

Puis\\
  sudo apt update
  sudo apt install -f librealsense2-dkms

Tester avec:
  sudo apt install librealsense2-utils
  realsense-viewer
  
Voir si le module est bien chargé
  modinfo uvcvideo | grep "version:"            devrait inclure realsense

{{ ::realsense_viewer.png?400 |}}

===== Récupération des images avec OpenCV en python =====
====Installation de pyrealsense2====
  * https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python#installation

  python3 -m pip install pyrealsense2 --user

====L'exemple de la doc librealsense====
  * [[https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/opencv_viewer_example.py|opencv_viewer_example.py]]

{{ :media_14:realsense_opencv.png?800 |}}

====Calibration de la caméra====
**Avec une calibration, la détction du squelette est beaucoup plus stable.**\\
Une copie du script de la doc se trouve dans le dossier rs-imu-calibration: [[https://github.com/sergeLabo/rs-opencv/blob/main/rs-imu-calibration/rs-imu-calibration.py|rs-imu-calibration.py]]\\
Suivre le script et le PDF [[https://github.com/sergeLabo/rs-opencv/blob/main/rs-imu-calibration/IMU_Calibration_Tool_for_Intel_RealSense-Depth_Cameras_Whitepaper.pdf|IMU_Calibration_Tool_for_Intel_RealSense-Depth_Cameras_Whitepaper.pdf]]

Exemple d'une calibration
<code bash>
python3 rs-imu-calibration.py
waiting for realsense device...
  Device PID:  0B5C
  Device name:  Intel RealSense D455
  Serial number:  053422251581
  Product Line:  D400
  Firmware version:  05.12.11.00
Start interactive mode:
FOUND ACCEL with fps=63
FOUND GYRO with fps=200
-------------------------
*** Press ESC to Quit ***
-------------------------

Align to direction:  [ 0. -1.  0.]   Mounting screw pointing down, device facing out
 Status.collect_data[...................]]                                                

Direction data collected.
Align to direction:  [1. 0. 0.]   Mounting screw pointing left, device facing out
 Status.collect_dataWARNING: MOVING     ]]                                                
 Status.collect_data[...................]]                                                

Direction data collected.
Align to direction:  [0. 1. 0.]   Mounting screw pointing up, device facing out
 Status.collect_data[...................]]                                                

Direction data collected.
Align to direction:  [-1.  0.  0.]   Mounting screw pointing right, device facing out
 Status.collect_dataWARNING: MOVING     ]]                                                
 Status.collect_data[...................]]                                                

Direction data collected.
Align to direction:  [ 0.  0. -1.]   Viewing direction facing down
 Status.collect_data[...................]]                                                

Direction data collected.
Align to direction:  [0. 0. 1.]   Viewing direction facing up
 Status.collect_dataWARNING: MOVING     ]]                                                
 Status.collect_data[...................]]                                                

Direction data collected.
Would you like to save the raw data? Enter footer for saving files (accel_<footer>.txt and gyro_<footer>.txt)
Enter nothing to not save raw data to disk. >toto


Writing files:
accel_toto.txt
gyro_toto.txt
[ 5.22060069e-04  6.86921142e-05 -2.07340278e-03]
[1000 1000 1000 1000 1000 1000]
using 6000 measurements.
[[ 1.01076975e+00  3.60727590e-02 -8.35014969e-03]
 [ 4.92538947e-04  1.01871131e+00 -8.72837958e-03]
 [-6.46373829e-03  1.24138802e-02  1.01959596e+00]
 [ 2.24575082e-01  1.56413994e-01  2.86333600e-01]]
residuals: [  7.25572588   3.70199967 114.63373591]
rank: 4
singular: [441.23030094 430.20638248 424.20085017  77.26445512]
norm (raw data  ): 9.655707
norm (fixed data): 9.805557 A good calibration will be near 9.806650
Would you like to write the results to the camera? (Y/N)Y
Writing calibration to device.
  Device PID:  0B5C
  Device name:  Intel RealSense D455
  Serial number:  053422251581
  Firmware version:  05.12.11.00
SUCCESS: saved calibration to camera.
Done.
</code>
=====Les pages sur la détection de squelette=====
  * [[skeleton_tracking_de_cubemos_logiciel_proprietaire|]]
  * [[pose_estimation_avec_opencv]]


{{tag> capteurs opencv python realsense sb skeleton camera3D ia}}