2020ǯ0430
ǥץͺۤʥ륫פȤѤ
ǥץ Intel RealSense D415 Ȥä줳Ƥ뤦ˤդȤʤȤͤޤ
RealSense D400 νϤϡ1˰Ū RGB 顼 2˼٤αƶˤֳơ3ΤΰִطŪɽ줿پ뤳ȤǤޤλξȹ礹ȥΰ֤ξ¿ŪˤȤ館뤳ȤǽǤޤ
ΥˡʲΤȤǡ֤뤤פ˳褫ΤǤϤʤȹͤޤ
ʹѤݳǧΤ꤬Ȥޤϸߤץ饤١ȤѤ³ƤΤǤˤβäа¿ä礭ʤꤽǤ
Raspberry Pi 3 B+ Υåȥå
Τ褦ʷǰ켰֡ѤȤаξʥۥȵȤ߹碌뤳ȤޤǤ礦 RealSense D400 Raspberry PI 3 ˤбƤޤ
ä Raspberry Pi 3 B+ δĶꤷޤλޤǤ꤬ä⤢ĤƤޤ
realsense raspberry pi 3פΥɤȡεƱͤ˥饺ѥ RealSense D400 Ѥ뤿 OS ĶȤ Ubuntu Mate 16.x Ȥ¿ҥåȤ롣ޤϤεͤ˽ʤȤ Raspberry Pi 3 B+ Ubuntu Mate 16.x ư뤳ȤϤǤʤäԿ˻פʤõܤˤ֤ޤˡͤˤ뼡εƤΤä
˾ʲε˹Ԥ夤Raspbian λѤȤƤǡThese steps are for D435 with Raspberry Pi3 and 3+פȤ롣
- Raspberry 3 B+ʳǤUbuntu Mate 16.04.2(Xenial)ϵưʤ 2018-09-09 - shittaca.seesaa.net
εƤϺǽŪˤΤäˤ꤬Ȥ⤤Ĥä˺ͤƤʲ˹롣
- Raspbian(RaspberryPi3) Installation - github.com/IntelRealSense
- www.raspberrypi.org ۤƤRaspbian Buster with desktopפˤŬѤǤʤΡ4.14.34-v7+פ˶ᤤСõ2018-11-13-raspbian-stretch-full (4.14.79-v7+) פȤ
- ϢμǤΥӥɤˤϻ֤뤳Ȥա긵ǤϻԺʬΥޤȡ 20٤פ
- λؼɤ raspi-config ޥɤ OpenGL Driver ͭˤ OpenCV ѤץǤɽԶ礬롣@PINTO ͤˤʲεˤ˴Ϣ뵭Ҥߤ
긵Ǥ OpenGL OpenCV Ǥ뤿դ OpenGL ɥ饤Ф̵ [raspi-config] - [7.Advanced Options] - [A7 GL Driver] - [G3 Legacy]ˤץߥˤ OpenCV ѤƤ롣ǤǤϸ RealSense Viewer Ťˤʤ뤿ŬȤʬɬס
- ǥץRealSenseD435ǡ ʵ̾άĺޤ - qiita.com/PINTO
OpenGL Driver ͭˤȡOpenCV imshow åɤưʤʤɬפ롣 εμ Τ褦ˡOpenCV imshow åɤʤOpenGLϥåɤʤƤϤʤʤա
äФƼ긵 Raspberry Pi 3 B+ D415 ѤǤ֤ˤʤޤ꺢ʥǤǤ
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ưˤϤδĶǸ Intel RealSense Viewer ¹ԤͻҤƤޤʤǤǤλˤ饺ѥ¦ OpenGL Driver ͭˤƤޤ
D400 ֳȿپ٤Ȥδط
RealSense D400 Ͽٷ¬ˤդĤֳʥˤѤƥ쥪ƥѤƤꡢ¬ٸŪȤɥåȥѥֳԤȤǽȤʤäƤޤϥǥեȤͭǤ
Τ褦˺ RGB, ֳ, ٤ΤߤäĤβ碌ª뤳ȤݥȤǤֳǽֳͳȿپξ˱ƶڤܤޤ긵Ǥδѻ̤餳ΤȤƤߤޤ
ޤֳͭ / ̵֤ D415 μ褷ƥե졼Ż߲ʲ˼ޤֳϤդĤֳκ¦ΤΤѡʤʤֳϤޤǤ⿼ٷ¬ŪȤΤǤΤޤޤβϻŪ˰ŤᡢOpenCV ٤ȥȥ饹ȤǤ¤٤ƷǤƤޤʲϤ⥯å礭ɽ
RGB
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ֳ L
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ֳ Lߡ
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RGB
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ֳ L
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ֳ L ߡ
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Υץ뤫鼡Τ褦ȽǤޤ
ʤߤˡ̵ֳͭȥߥڤؤ뤳ȤϤǤޤץμ褹뤿Ѱդ Python ɤʲ˰Ѥޤ
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# D415_IRemitterTest.py
#
# for Intel RealSense D415
#
# 2020-03
#
import pyrealsense2 as rs
import numpy as np
import cv2
# ̵ֳͭ
USE_IR_EMITTER = True
#USE_IR_EMITTER = False
WIDTH = 640
HEIGHT = 480
FPS = 15
# ١ȥ饹Ȥ
# https://www.pynote.info/entry/opencv-change-contrast-and-brightness
def adjust(img, alpha=1.0, beta=0.0):
dst = alpha * img + beta
return np.clip(dst, 0, 255).astype(np.uint8)
def main():
# RealSense ȥߥ
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, WIDTH, HEIGHT, rs.format.z16, FPS)
config.enable_stream(rs.stream.color, WIDTH, HEIGHT, rs.format.bgr8, FPS)
config.enable_stream(rs.stream.infrared, 1, WIDTH, HEIGHT, rs.format.y8, FPS)
profile = pipeline.start(config)
device = profile.get_device()
depth_sensor = device.first_depth_sensor()
if USE_IR_EMITTER:
# IR
depth_sensor.set_option(rs.option.emitter_enabled, 1)
laser_range = depth_sensor.get_option_range(rs.option.laser_power)
depth_sensor.set_option(rs.option.laser_power, laser_range.max)
else:
# IR ̵
depth_sensor.set_option(rs.option.emitter_enabled, 0)
try:
while True:
# RealSense ե졼ǡ
frames = pipeline.wait_for_frames()
depth_frame = frames.get_depth_frame()
color_frame = frames.get_color_frame()
ir_frame = frames.get_infrared_frame()
depth_img_raw = np.asanyarray(depth_frame.get_data())
color_img = np.asanyarray(color_frame.get_data())
ir_img_raw = np.asanyarray(ir_frame.get_data())
depth_img = cv2.applyColorMap(cv2.convertScaleAbs(depth_img_raw, alpha=0.08), cv2.COLORMAP_JET)
# IR ե졼।٤Ĵ
ir_img = adjust(ir_img_raw, alpha=2.0, beta=40.0)
# ƥե졼।ɽ
cv2.imshow('RGB', color_img)
cv2.imshow('IRRaw', ir_img_raw)
cv2.imshow('IR', ir_img)
cv2.imshow('Depth', depth_img)
# Ƚ
key = cv2.waitKey(1)
if key & 0xFF == ord('q') or key == 27: # ESC
cv2.destroyAllWindows()
break
elif key & 0xFF == ord('s'):
# ե졼।
cv2.imwrite('ImgRGB.jpg', color_img)
cv2.imwrite('ImgIRRaw.jpg', ir_img_raw)
cv2.imwrite('ImgIR.jpg', ir_img)
cv2.imwrite('ImgDepth.jpg', depth_img)
finally:
pipeline.stop()
if __name__ == '__main__':
main()
ưθΤˤĤ
˺ݤäȤ⥷ꥢʾȹͤΤϡоݼԤޤäưʤ֡פǤ礦Τᡢ뤵ˤ餺ư̵ͭŬڤİǤ褦ˤƤȹͤޤμʤȤֳ餫νϤȤưθΤԤȤפΩޤ
ä긵ǰäиϤޤǤͥåȾξͤ˹ͤƤޤʲƤǤδʰŪʼߤޤޤǤե졼֤ξѲ̤ȤƤǿθǤϴޤߤޤ
ƥѥϼϤŬڤͤФ
ΤưǼƤߤޤ
1. ʬΥե졼
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2. ʬβ ΤȼưƤߤ
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3. 嵭 1, 2 κʬ
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4. ԥͤͤ 0 255 ʬ
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ޤǤ˰ʲ˴ŤƤΥץꥱޤMQTT ֥ˤ֤ Beebotte ѤޤJavaScript Ѥ API åƤ뤿 Web ֥饦ΥƥĤǥåȤǽǤ
Ϣޤ
ʲΤ褦˽ɽޤ
http://drive.google.com/uc?export=view&id={ID}
ʾƧޤäѰդץǤ
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# AnpiRealSense.py
#
# for Intel RealSense D415
#
# 2020-03
#
import threading
import datetime
import time
import os
import requests
import pyrealsense2 as rs
import numpy as np
import cv2
import paho.mqtt.client as mqtt
import json
from pydrive.auth import GoogleAuth
from pydrive.drive import GoogleDrive
# for RealSense
WIDTH = 640
HEIGHT = 480
FPS = 15
# for MQTT
MQTT_TOKEN = 'token_w5xxxxxxxxxx'
MQTT_HOSTNAME = 'mqtt.beebotte.com'
MQTT_PORT = 8883
MQTT_TOPIC = 'Anpi/q01'
MQTT_CACERT = 'mqtt.beebotte.com.pem'
MQTT_URL_PUB = 'https://script.google.com/xxxx/exec'
# for Google Drive
ID_RGB = '1YTEcpNyVv5axxxxxxxxxx'
ID_IR = '1qt0tzv5-DfJxxxxxxxxxx'
ID_DEPTH = '17A8Xybfz6qoxxxxxxxxxx'
ID_RGB_PREV = '1sxb67Zspim2xxxxxxxxxx'
ID_IR_PREV = '1A9C-9vgo97Kxxxxxxxxxx'
ID_DEPTH_PREV = '1oJSOeebzL0exxxxxxxxxx'
ID_RGB_MOVE = '1cMLgJB3_zcDxxxxxxxxxx'
ID_IR_MOVE = '1rbaVHzpD4m-xxxxxxxxxx'
ID_DEPTH_MOVE = '1dSdfAOy4oHqxxxxxxxxxx'
ID_IR_DIFF = '1JuZLW1g8eaOxxxxxxxxxx'
FN_RGB = 'RGB'
FN_IR = 'IR'
FN_DEPTH = 'Depth'
FN_SUFFIX = '.jpg'
FN_SUFFIX_PREV = '_prev.jpg'
FN_SUFFIX_MOVE = '_move.jpg'
FN_SUFFIX_DIFF = '_diff.jpg'
QUEUE = 0
Q_UPDATE = 100
Q_DETECT = 200
# MQTT ͥΩХå
def on_mqtt_connect(client, userdata, flags, respons_code):
client.subscribe(MQTT_TOPIC)
print('mqtt on_connect')
# MQTT åХå
def on_mqtt_message(client, userdata, msg):
global QUEUE
QUEUE = Q_UPDATE
print('mqtt on_message')
print(msg.topic + ' ' + str(msg.payload))
# ջʬɽ
def putDateTime(img):
dt_str = datetime.datetime.now().strftime('%Y-%m-%d %H:%M')
cv2.putText(img, dt_str, (20, 36),
cv2.FONT_HERSHEY_DUPLEX, 1, (0, 0, 0), 2, cv2.LINE_AA )
cv2.putText(img, dt_str, (18, 34),
cv2.FONT_HERSHEY_DUPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA )
# jpg ե뷲
def rotateFile(fname, img):
fn = fname + FN_SUFFIX
fn_prev = fname + FN_SUFFIX_PREV
if os.path.exists(fn):
if os.path.exists(fn_prev):
os.remove(fn_prev)
os.rename(fn, fn_prev)
cv2.imwrite(fn, img)
if os.path.exists(fn_prev):
return True
return False
# Google Drive سƥե졼 jpg ǡåץ
def upload_data(id, fname, gdrive):
f = gdrive.CreateFile({'id': id})
f.SetContentFile(fname)
f.Upload()
print('upload_data [' + fname +']')
def do_upload(mode, rgb_img, ir_img, depth_img, ir_img_diff, gdrive):
print('do_upload start')
putDateTime(rgb_img)
putDateTime(ir_img)
putDateTime(depth_img)
if mode == Q_UPDATE: # ǤդλǤΥʥåץå
if rotateFile(FN_RGB, rgb_img):
upload_data(ID_RGB_PREV, FN_RGB + FN_SUFFIX_PREV, gdrive)
upload_data(ID_RGB, FN_RGB + FN_SUFFIX, gdrive)
if rotateFile(FN_DEPTH, depth_img):
upload_data(ID_DEPTH_PREV, FN_DEPTH + FN_SUFFIX_PREV, gdrive)
upload_data(ID_DEPTH, FN_DEPTH + FN_SUFFIX, gdrive)
if rotateFile(FN_IR, ir_img):
upload_data(ID_IR_PREV, FN_IR + FN_SUFFIX_PREV, gdrive)
upload_data(ID_IR, FN_IR + FN_SUFFIX, gdrive)
elif mode == Q_DETECT: # ưθλ
cv2.imwrite(FN_RGB + FN_SUFFIX_MOVE, rgb_img)
cv2.imwrite(FN_DEPTH + FN_SUFFIX_MOVE, depth_img)
cv2.imwrite(FN_IR + FN_SUFFIX_MOVE, ir_img)
cv2.imwrite(FN_IR + FN_SUFFIX_DIFF, ir_img_diff)
upload_data(ID_RGB_MOVE, FN_RGB + FN_SUFFIX_MOVE, gdrive)
upload_data(ID_DEPTH_MOVE, FN_DEPTH + FN_SUFFIX_MOVE, gdrive)
upload_data(ID_IR_MOVE, FN_IR + FN_SUFFIX_MOVE, gdrive)
upload_data(ID_IR_DIFF, FN_IR + FN_SUFFIX_DIFF, gdrive)
requests.post(MQTT_URL_PUB, data={'hoge':'1'})
print('do_upload done')
# ١ȥ饹Ȥ
# https://www.pynote.info/entry/opencv-change-contrast-and-brightness
def adjust(img, alpha=1.0, beta=0.0):
dst = alpha * img + beta
return np.clip(dst, 0, 255).astype(np.uint8)
def main():
global QUEUE
# init MQTT
print('init mqtt start')
mqtt_client = mqtt.Client()
mqtt_client.username_pw_set('token:%s'%MQTT_TOKEN)
mqtt_client.on_connect = on_mqtt_connect
mqtt_client.on_message = on_mqtt_message
mqtt_client.tls_set(MQTT_CACERT)
mqtt_client.connect(MQTT_HOSTNAME, port=MQTT_PORT, keepalive=60)
print('init mqtt done')
# init Google Drive
print('init gdrive start')
gauth = GoogleAuth()
gauth.CommandLineAuth()
gdrive = GoogleDrive(gauth)
print('init gdrive done')
# RealSense ȥߥ
print('rs streaming starting')
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, WIDTH, HEIGHT, rs.format.z16, FPS)
config.enable_stream(rs.stream.color, WIDTH, HEIGHT, rs.format.bgr8, FPS)
config.enable_stream(rs.stream.infrared, 1, WIDTH, HEIGHT, rs.format.y8, FPS)
profile = pipeline.start(config)
print('rs streaming started')
# IR
device = profile.get_device()
depth_sensor = device.first_depth_sensor()
depth_sensor.set_option(rs.option.emitter_enabled, 1)
laser_range = depth_sensor.get_option_range(rs.option.laser_power)
depth_sensor.set_option(rs.option.laser_power, laser_range.max)
ir_img_prev = np.empty(0)
ir_img_diff = np.empty(0)
time_start = time.time()
time_deetected = 0
try:
while True:
mqtt_client.loop(0.1)
# RealSense ե졼ǡ
frames = pipeline.wait_for_frames()
depth_frame = frames.get_depth_frame()
color_frame = frames.get_color_frame()
ir_frame = frames.get_infrared_frame()
if not depth_frame or not color_frame or not ir_frame:
continue
depth_img_raw = np.asanyarray(depth_frame.get_data())
color_img = np.asanyarray(color_frame.get_data())
ir_img_raw = np.asanyarray(ir_frame.get_data())
depth_img = cv2.applyColorMap(cv2.convertScaleAbs(depth_img_raw, alpha=0.08), cv2.COLORMAP_JET)
# IR ե졼।٤Ĵ
ir_img = adjust(ir_img_raw, alpha=2.0, beta=40.0)
# ưθ
# Υ褱˥ȥߥϤ 10٤ϴDz
if ir_img_prev.size != 0 and time.time() - time_start > 10:
# ľ IR ե졼।Ȥκʬ
ir_diff = cv2.absdiff(ir_img, ir_img_prev)
# 80 ͤ 0, 255 Ͳ
ret, ir_img_diff = cv2.threshold(ir_diff, 80, 255, cv2.THRESH_BINARY)
cv2.imshow('diff', ir_img_diff)
# 255 ͥݥȤΤߤ
ar = ir_img_diff[ir_img_diff == 255]
# ηʾʤưȽ
if ar.size > 200:
#print(ar.size)
# åץɤ 30ʬ̤вʤ饹å
if time.time() - time_deetected >= 1800:
print('motion detected')
time_deetected = time.time()
QUEUE = Q_DETECT
# ʬ IR ե졼।Ѥ˥ԡ
ir_img_prev = ir_img.copy()
# ƥե졼।ɽ
cv2.imshow('RGB', color_img)
cv2.imshow('IR', ir_img)
cv2.imshow('Depth', depth_img)
# Ƚ
key = cv2.waitKey(1)
if key & 0xFF == ord('q') or key == 27: # ESC
cv2.destroyAllWindows()
break
elif key & 0xFF == ord('s'):
QUEUE = Q_UPDATE
# åץɻؼ
if QUEUE != 0:
# Google Drive سƥե졼 jpg ǡåץ
do_upload(QUEUE,
color_img, ir_img, depth_img, ir_img_diff,
gdrive)
QUEUE = 0
time.sleep(0.2) # 200ms
finally:
pipeline.stop()
print('exit')
if __name__ == '__main__':
main()
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klab_gijutsu2 at 09:30Comments(0)¾
