intel_realsense
Différences
Ci-dessous, les différences entre deux révisions de la page.
Les deux révisions précédentesRévision précédenteProchaine révision | Révision précédenteDernière révisionLes deux révisions suivantes | ||
intel_realsense_et_cubemos [2021/03/13 10:58] – [Test] serge | intel_realsense [2021/11/26 09:01] – [Installation du driver du Capteur D455] serge | ||
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- | ====== Intel Realsense et Cubemos====== | + | ====== Intel Realsense====== |
+ | <WRAP center round box 80% centeralign> | ||
+ | **{{tagpage> | ||
+ | </ | ||
+ | |||
+ | {{ : | ||
+ | ===== Ressources | ||
+ | |||
+ | * **[[cameras_de_profondeur|Camera Realsense Installation]] Intel® RealSense™ Computer Vision - Depth and Tracking cameras** | ||
+ | |||
+ | * [[https:// | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
=====Installation du driver du Capteur D455===== | =====Installation du driver du Capteur D455===== | ||
+ | * **[[https:// | ||
+ | Validé sur Debian 11 Bullseye | ||
- | * https://github.com/IntelRealSense/ | + | <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:// | ||
+ | </code> | ||
- | sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp:// | + | Puis\\ |
- | sudo add-apt-repository "deb http:// | + | sudo apt update |
- | sudo apt-get install | + | sudo apt install |
- | sudo apt-get install librealsense2-utils | + | |
Tester avec: | Tester avec: | ||
+ | sudo apt install librealsense2-utils | ||
realsense-viewer | realsense-viewer | ||
+ | | ||
+ | Voir si le module est bien chargé | ||
+ | modinfo uvcvideo | grep " | ||
{{ :: | {{ :: | ||
- | =====Installation de Skeleton Tracking de Cubemos===== | ||
- | L' | ||
- | Debian 10 et Xubuntu 20.04 ont des versions plus récentes, et je suis trop maladroit pour réussir à l' | ||
- | sudo apt install ./ | + | ===== Récupération des images avec OpenCV en python |
- | cd / | + | ====Installation de pyrealsense2==== |
- | bash post_installation.sh | + | * https://github.com/IntelRealSense/ |
- | Installe entre autre ffmpeg, demande la license, installer les exemples | + | |
- | POST INSTALLATION STEPS COMPLETED | + | |
- | During the Linux installation the following environment variable is created | + | |
- | $CUBEMOS_SKEL_SDK | / | + | |
- | + | ||
- | Redémarrer pour que le PATH soit mis à jour | + | |
- | =====Cubemos===== | + | |
- | * https://www.cubemos.com/ S' | + | |
- | ====Installation du package python==== | + | python3 -m pip install pyrealsense2 --user |
- | L’exécution des scripts se fait dans un environnement virtuel avec [[virtualenv|venv]] | + | |
- | sudo apt install python3-pip python3-venv | + | ====L' |
- | python3 -m venv ~/ | + | |
- | source ~/ | + | |
- | Pour relancer: | + | |
- | cd ~/ | + | |
- | source ~/ | + | |
- | Installation des packages | + | |
- | pip3 install wheel | + | |
- | pip3 install " | + | |
- | pip3 install --find-links=" | + | |
- | pip3 install pyrealsense2 | + | |
- | ====Test==== | + | |
- | | + | |
- | pip3 install -r requirements.txt | + | |
- | Test sur une image qui est dans /opt | + | |
- | python3 skeleton-tracking-image.py -o ~/output.jpg ../res/images/skeleton_estimation.jpg | + | |
- | {{ : | + | |
- | + | ||
- | ===Premier essai=== | + | |
- | ~/cubemos-samples/py_venv/bin/python3 cubemos-samples/ | + | |
- | Nous allons donc améliorer ce script pour envoyer le skeleton en OSC ! | + | |
- | ====Licence==== | + | {{ : |
- | < | + | |
- | " | + | ====Calibration de la caméra==== |
- | " | + | **Avec une calibration, |
- | " | + | Une copie du script de la doc se trouve dans le dossier rs-imu-calibration: |
- | " | + | Suivre le script et le PDF [[https:// |
- | " | + | |
- | " | + | Exemple d'une calibration |
- | " | + | < |
+ | python3 rs-imu-calibration.py | ||
+ | waiting for realsense device... | ||
+ | Device PID: | ||
+ | Device name: Intel RealSense D455 | ||
+ | Serial number: | ||
+ | Product Line: D400 | ||
+ | Firmware version: | ||
+ | Start interactive mode: | ||
+ | FOUND ACCEL with fps=63 | ||
+ | FOUND GYRO with fps=200 | ||
+ | ------------------------- | ||
+ | *** Press ESC to Quit *** | ||
+ | ------------------------- | ||
+ | |||
+ | Align to direction: [ 0. -1. | ||
+ | Status.collect_data[...................]] | ||
+ | |||
+ | Direction data collected. | ||
+ | Align to direction: [1. 0. 0.] | ||
+ | Status.collect_dataWARNING: MOVING | ||
+ | | ||
+ | |||
+ | Direction data collected. | ||
+ | Align to direction: | ||
+ | | ||
+ | |||
+ | Direction data collected. | ||
+ | Align to direction: | ||
+ | Status.collect_dataWARNING: MOVING | ||
+ | | ||
+ | |||
+ | Direction data collected. | ||
+ | Align to direction: [ 0. 0. -1.] | ||
+ | | ||
+ | |||
+ | Direction data collected. | ||
+ | Align to direction: [0. 0. 1.] | ||
+ | | ||
+ | Status.collect_data[...................]] | ||
+ | |||
+ | Direction data collected. | ||
+ | Would you like to save the raw data? Enter footer for saving files (accel_< | ||
+ | Enter nothing to not save raw data to disk. >toto | ||
+ | |||
+ | |||
+ | Writing files: | ||
+ | accel_toto.txt | ||
+ | gyro_toto.txt | ||
+ | [ 5.22060069e-04 | ||
+ | [1000 1000 1000 1000 1000 1000] | ||
+ | using 6000 measurements. | ||
+ | [[ 1.01076975e+00 | ||
+ | | ||
+ | [-6.46373829e-03 | ||
+ | [ 2.24575082e-01 | ||
+ | residuals: [ 7.25572588 | ||
+ | rank: 4 | ||
+ | singular: [441.23030094 430.20638248 424.20085017 | ||
+ | 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: | ||
+ | Firmware version: | ||
+ | SUCCESS: saved calibration to camera. | ||
+ | Done. | ||
</ | </ | ||
- | La licence ne marche que sur une machine, un disque, un OS ... ! | + | =====Les pages sur la détection de squelette===== |
+ | * [[skeleton_tracking_de_cubemos_logiciel_proprietaire|]] | ||
+ | * [[pose_estimation_avec_opencv]] | ||
- | {{tag> | + | {{tag> |
intel_realsense.txt · Dernière modification : 2022/03/22 14:12 de Benjamin Labomedia