intel_realsense
Différences
Ci-dessous, les différences entre deux révisions de la page.
Les deux révisions précédentesRévision précédenteProchaine révision | Révision précédente | ||
intel_realsense [2021/03/13 17:45] – [Nuitrack Licence Apache] serge | intel_realsense [2022/03/22 14:12] (Version actuelle) – [Les pages sur la détection de squelette] Benjamin Labomedia | ||
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====== Intel Realsense====== | ====== 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 " | ||
{{ :: | {{ :: | ||
- | =====Nuitrack Licence Apache Payante===== | + | ===== Récupération des images avec OpenCV en python |
- | * **[[http:// | + | ====Installation de pyrealsense2==== |
- | * https://www.3divi.com/ | + | * https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python# |
- | * https://github.com/3DiVi | + | |
- | * https://nuitrack.com/ | + | |
- | =====Open===== | + | python3 |
- | * http:// | + | |
- | * https:// | + | |
- | * https:// | + | |
- | * http:// | + | |
- | * https:// | + | |
- | * | + | |
+ | ====L' | ||
+ | * [[https:// | ||
- | =====Skeleton Tracking de Cubemos Logiciel propriétaire===== | + | {{ :media_14: |
- | * https:// | + | |
- | L' | + | ====Calibration de la caméra==== |
+ | **Avec une calibration, | ||
+ | Une copie du script de la doc se trouve dans le dossier rs-imu-calibration: [[https:// | ||
+ | Suivre le script et le PDF [[https:// | ||
- | sudo apt install ./cubemos-SkeletonTracking_*.deb | + | Exemple d'une calibration |
- | cd / | + | <code bash> |
- | | + | python3 rs-imu-calibration.py |
- | Installe entre autre ffmpeg, demande la license, installer les exemples | + | waiting for realsense device... |
- | | + | |
- | | + | |
- | | + | |
- | + | | |
- | Redémarrer pour que le PATH soit mis à jour | + | |
+ | Start interactive mode: | ||
+ | FOUND ACCEL with fps=63 | ||
+ | FOUND GYRO with fps=200 | ||
+ | ------------------------- | ||
+ | *** Press ESC to Quit *** | ||
+ | ------------------------- | ||
- | ====Installation du package python==== | + | Align to direction: |
- | L’exécution des scripts se fait dans un environnement virtuel avec [[virtualenv|venv]] | + | |
- | sudo apt install python3-pip python3-venv | + | Direction data collected. |
- | | + | Align to direction: |
- | source ~/ | + | Status.collect_dataWARNING: |
- | Pour relancer: | + | Status.collect_data[...................]] |
- | cd ~/ | + | |
- | source ~/ | + | |
- | Installation des packages | + | |
- | pip3 install wheel | + | |
- | pip3 install " | + | |
- | pip3 install --find-links=" | + | |
- | pip3 install pyrealsense2 | + | |
- | ====Test==== | + | |
- | cd " | + | |
- | pip3 install -r requirements.txt | + | |
- | Test sur une image qui est dans /opt | + | |
- | python3 skeleton-tracking-image.py -o ~/output.jpg ../ | + | |
- | {{ : | + | |
- | + | ||
- | ===Premier essai=== | + | |
- | ~/ | + | |
- | Nous allons donc améliorer ce script pour envoyer le skeleton en OSC ! | + | |
- | ====Licence==== | + | Direction data collected. |
- | < | + | Align to direction: |
- | " | + | Status.collect_data[...................]] |
- | " | + | |
- | " | + | Direction data collected. |
- | " | + | Align to direction: [-1. 0. 0.] |
- | " | + | Status.collect_dataWARNING: MOVING |
- | " | + | |
- | " | + | |
+ | Direction data collected. | ||
+ | Align to direction: [ 0. 0. -1.] | ||
+ | | ||
+ | |||
+ | Direction data collected. | ||
+ | Align to direction: | ||
+ | | ||
+ | | ||
+ | |||
+ | 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 6.86921142e-05 -2.07340278e-03] | ||
+ | [1000 1000 1000 1000 1000 1000] | ||
+ | using 6000 measurements. | ||
+ | [[ 1.01076975e+00 | ||
+ | [ 4.92538947e-04 | ||
+ | [-6.46373829e-03 | ||
+ | [ 2.24575082e-01 | ||
+ | residuals: [ | ||
+ | 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: | ||
+ | Device name: Intel RealSense D455 | ||
+ | Serial number: | ||
+ | | ||
+ | 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.1615657533.txt.gz · Dernière modification : 2021/03/13 17:45 de serge