intel_realsense
Ceci est une ancienne révision du document !
Table des matières
Intel Realsense
Ressources
- Camera Realsense Installation Intel® RealSense™ Computer Vision - Depth and Tracking cameras
Installation du driver du Capteur D455
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 add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u fermé sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo focal main" -u sudo apt-get install librealsense2-dkms sudo apt-get install librealsense2-utils
Tester avec:
realsense-viewer
Récupération des images avec OpenCV en python
Installation de pyrealsense2
pip install pyrealsense2
L'exemple de la doc librealsense
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: 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.
Les pages sur la détection de squelette
intel_realsense.1625392146.txt.gz · Dernière modification : 2021/07/04 09:49 de serge