• Camera Realsense Installation Intel® RealSense™ Computer Vision - Depth and Tracking cameras

• API python
• pyrealsense.readthedocs.io
• Exemples python sur GitHub

• github.com librealsense doc linux

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

• https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python#installation

python3 -m pip install pyrealsense2 --user

• opencv_viewer_example.py

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.

• Skeleton Tracking de Cubemos Logiciel propriétaire
• Pose Estimation avec OpenCV