Validé sur Debian 11 Bullseye
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
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
python3 -m pip install pyrealsense2 --user
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: rs-imu-calibration.py
Suivre le script et le PDF IMU_Calibration_Tool_for_Intel_RealSense-Depth_Cameras_Whitepaper.pdf
Exemple d'une calibration
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.