Différences

Ci-dessous, les différences entre deux révisions de la page.

--- intel_realsense [2021/03/15 17:57] – [Nuitrack Licence Apache Payante] serge
+++ intel_realsense [2022/03/22 14:12] (Version actuelle) – [Les pages sur la détection de squelette] Benjamin Labomedia
@@ Ligne 1: / Ligne 1: @@
 ====== Intel Realsense======
+<WRAP center round box 80% centeralign>
+**{{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]]**
+</WRAP>
+{{ :media_15:img_0005.jpg?600 |}}
+===== 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
-  * https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
+<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>
-  sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
+Puis\\
-  sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
+  sudo apt update
-  sudo apt-get install librealsense2-dkms
+  sudo apt install -f librealsense2-dkms
-  sudo apt-get install librealsense2-utils
 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
-=====Open=====
+====L'exemple de la doc librealsense====
-  * http://openptrack.org/overview-3d-skeleton-tracking-pose-recognition-with-opt/
+  * [[https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/opencv_viewer_example.py|opencv_viewer_example.py]]
-  * https://github.com/CMU-Perceptual-Computing-Lab/openpose
-  * https://github.com/futureneer/openni2-tracker
-  * http://wiki.ros.org/openni_tracker
-  * https://github.com/IntelRealSense/librealsense/tree/master/wrappers/openni2
-  * https://www.intelrealsense.com/openni2-for-intel-realsense-sdk/
-=====A voir en premier=====
+{{ :media_14:realsense_opencv.png?800 |}}
-  * https://support.troikatronix.com/support/solutions/articles/13000069937-skeleton-tracking-in-isadora-3-with-openni-tracker
+====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]]
-=====Skeleton Tracking de Cubemos Logiciel propriétaire=====
+Exemple d'une calibration
-  * https://www.cubemos.com/ S'inscrire pour récupérer la version de test valable 30 jours
+<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 ***
+-------------------------
-L'installation avec le deb ne marche que sur (x)ubuntu 18.04: il faut libboost 1.65\\
+Align to direction:  [ 0. -1.  0.]   Mounting screw pointing down, device facing out
+ Status.collect_data[...................]]
-  sudo apt install ./cubemos-SkeletonTracking_*.deb
+Direction data collected.
-  cd /opt/cubemos/skeleton_tracking/scripts/
+Align to direction:  [1. 0. 0.]   Mounting screw pointing left, device facing out
-  bash post_installation.sh
+ Status.collect_dataWARNING: MOVING     ]]
-Installe entre autre ffmpeg, demande la license, installer les exemples
+ Status.collect_data[...................]]
-  POST INSTALLATION STEPS COMPLETED
-  During the Linux installation the following environment variable is created
-  $CUBEMOS_SKEL_SDK | /opt/cubemos/skeleton_tracking
-Redémarrer pour que le PATH soit mis à jour
-====Installation du package python====
+Direction data collected.
-L’exécution des scripts se fait dans un environnement virtuel avec [[virtualenv|venv]]
+Align to direction:  [0. 1. 0.]   Mounting screw pointing up, device facing out
+ Status.collect_data[...................]]
-  sudo apt install python3-pip python3-venv
+Direction data collected.
-  python3 -m venv ~/cubemos-samples/py_venv
+Align to direction:  [-1.  0.  0.]   Mounting screw pointing right, device facing out
-  source ~/cubemos-samples/py_venv/bin/activate
+ Status.collect_dataWARNING: MOVING     ]]
-Pour relancer:
+ Status.collect_data[...................]]
-  cd ~/cubemos-samples/
-  source ~/cubemos-samples/py_venv/bin/activate
-Installation des packages
-  pip3 install wheel
-  pip3 install "numpy<1.19"
-  pip3 install --find-links="$CUBEMOS_SKEL_SDK/wrappers/python" --no-index cubemos.skeletontracking
-  pip3 install pyrealsense2
-====Test====
-  cd "$CUBEMOS_SKEL_SDK/samples/python/"
-  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
-{{ :media_14:output_cubemos.jpg?150 |}}
-===Premier essai===
-  ~/cubemos-samples/py_venv/bin/python3 cubemos-samples/src/python/skeleton-tracking-realsense.py
-====Doc====
+Direction data collected.
-  * https://dev.intelrealsense.com/docs/python2
+Align to direction:  [ 0.  0. -1.]   Viewing direction facing down
-  * https://cubemos.stoplight.io/docs/skeleton-estimation/docs/01Quickstart.md
+ Status.collect_data[...................]]
-  *
-====Licence====
+Direction data collected.
-<code>
+Align to direction:  [0. 0. 1.]   Viewing direction facing up
-"licenseKey": "260453da-81ac-11eb-84c8-caa6c589ad70",
+ Status.collect_dataWARNING: MOVING     ]]
-"hardwareIdentifier": {
+ Status.collect_data[...................]]
-"cpu_id": "Intel(R) Core(TM) i5-8250U CPU @ 1.60GHz",
-"bios_id": "",
+Direction data collected.
-"hdd_ids": ["00000000474B", "50026B7682383438"],
+Would you like to save the raw data? Enter footer for saving files (accel_<footer>.txt and gyro_<footer>.txt)
-"mac_addr": ["30:b5:c2:ea:10:98"],
+Enter nothing to not save raw data to disk. >toto
-"os_info": "Linux 4.15.0-136-generic #140-Ubuntu SMP Thu Jan 28 05:20:47 UTC 2021\n"
+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>
-La licence ne marche que sur une machine, un disque, un OS, un seul port USB  ... !
+=====Les pages sur la détection de squelette=====
+  * [[skeleton_tracking_de_cubemos_logiciel_proprietaire|]]
+  * [[pose_estimation_avec_opencv]]
-{{tag>sb}}
+{{tag> capteurs opencv python realsense sb skeleton camera3D ia}}