Realsense d435, d435i, l515 동시에 사용하기

먼저 realsense를 opencv에서 사용하기 위해 

https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

GitHub - IntelRealSense/librealsense: Intel® RealSense™ SDK

Realsense SDK를 다운받는다.

 

서버 key 등록

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp

레퍼지스토리 목록에 추가

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

라이브러리 설치

sudo apt-get install librealsense2-dkms

sudo apt-get install librealsense2-utils

디버그 패키지 설치

sudo apt-get install librealsense2-dev

sudo apt-get install librealsense2-dbg

그 후 

pip install pyrealsense2

pyrealsense2를 install 해준다.

# Configure depth and color streams...
# ...from Camera 1
pipeline_1 = rs.pipeline()
config_1 = rs.config()
config_1.enable_device('831612073906')
config_1.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config_1.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
# ...from Camera 2
pipeline_2 = rs.pipeline()
config_2 = rs.config()
config_2.enable_device('f1270272')
config_2.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config_2.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
# ...from Camera 3
pipeline_3 = rs.pipeline()
config_3 = rs.config()
config_3.enable_device('233722071891')
config_3.enable_stream(rs.stream.depth, 640,480, rs.format.z16, 30)
config_3.enable_stream(rs.stream.color, 640,480, rs.format.bgr8, 30)

# Start streaming from both cameras
pipeline_1.start(config_1)
pipeline_2.start(config_2)
pipeline_3.start(config_3)
try:
    while True:

        # Camera 1
        # Wait for a coherent pair of frames: depth and color
        frames_1 = pipeline_1.wait_for_frames()
        depth_frame_1 = frames_1.get_depth_frame()
        color_frame_1 = frames_1.get_color_frame()
        if not depth_frame_1 or not color_frame_1:
            continue
        # Convert images to numpy arrays
        depth_image_1 = np.asanyarray(depth_frame_1.get_data())
        color_image_1 = np.asanyarray(color_frame_1.get_data())
        # Apply colormap on depth image (image must be converted to 8-bit per pixel first)


        # Camera 2
        # Wait for a coherent pair of frames: depth and color
        frames_2 = pipeline_2.wait_for_frames()
        depth_frame_2 = frames_2.get_depth_frame()
        color_frame_2 = frames_2.get_color_frame()
        if not depth_frame_2 or not color_frame_2:
            continue
        # Convert images to numpy arrays
        depth_image_2 = np.asanyarray(depth_frame_2.get_data())
        color_image_2 = np.asanyarray(color_frame_2.get_data())
        # Apply colormap on depth image (image must be converted to 8-bit per pixel first)

        frames_3 = pipeline_3.wait_for_frames()
        depth_frame_3 = frames_3.get_depth_frame()
        color_frame_3 = frames_3.get_color_frame()
        if not depth_frame_3 or not color_frame_3:
            continue
        # Convert images to numpy arrays
        depth_image_3 = np.asanyarray(depth_frame_3.get_data())
        color_image_3 = np.asanyarray(color_frame_3.get_data())
        
        # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
        # depth_colormap_3 = cv2.applyColorMap(cv2.convertScaleAbs(depth_image_3, alpha=0.5), cv2.COLORMAP_JET)
        
        # Stack all images horizontally
        # images = np.hstack((color_image_1, depth_image_1,color_image_2, depth_image_2))
        # Show images from both cameras
        cv2.namedWindow('RealSense1', cv2.WINDOW_NORMAL)
        cv2.imshow('RealSense1', color_image_1)
        cv2.waitKey(1)

        cv2.namedWindow('RealSense2', cv2.WINDOW_NORMAL)
        cv2.imshow('RealSense2', depth_image_1)
        cv2.waitKey(1)

        cv2.namedWindow('RealSense3', cv2.WINDOW_NORMAL)
        cv2.imshow('RealSense3', color_image_2)
        cv2.waitKey(1)

        cv2.namedWindow('RealSense4', cv2.WINDOW_NORMAL)
        cv2.imshow('RealSense4', depth_image_2)
        cv2.waitKey(1)
        
        cv2.namedWindow('RealSense5', cv2.WINDOW_NORMAL)
        cv2.imshow('RealSense5', color_image_3)
        cv2.waitKey(1)

        cv2.namedWindow('RealSense6', cv2.WINDOW_NORMAL)
        cv2.imshow('RealSense6', depth_image_3)
        cv2.waitKey(1)
        # Save images and depth maps from both cameras by pressing 's'
        ch = cv2.waitKey(25)
        cv2.imwrite("/home/jaewoong/opencv_calibration/1.jpg",color_image_1)
        cv2.imwrite("/home/jaewoong/opencv_calibration/2.jpg",depth_image_1)
        cv2.imwrite("/home/jaewoong/opencv_calibration/3.jpg",color_image_2)
        cv2.imwrite("/home/jaewoong/opencv_calibration/4.jpg",depth_image_2)
        cv2.imwrite("/home/jaewoong/opencv_calibration/5.jpg",color_image_3)
        cv2.imwrite("/home/jaewoong/opencv_calibration/6.jpg",depth_image_3)
  


finally:

    # Stop streaming
    pipeline_1.stop()
    pipeline_2.stop()
    pipeline_3.stop()

위 코드는 각 카메라의 rgb, depth 이미지를 출력하면서 저장하는 코드이다.

 

위에서 640, 480의 해상도를 사용하고 초당 프레인 30, rs.format.z16(16비트)는 depth 데이터 형식을 나타낸다.

rs.format.bgr8(8비트)는 color 데이터 형식을 나타낸다.