T265深度图像输出

1. T265深度图像输出

1.1. 环境依赖

• T265摄像头
• python3
• pip3
• opencv-python
• pyrealsense2

1.2. 安装运行环境

安装秘钥

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

增加库

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u

安装驱动

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

安装调试环境

sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

安装pip

sudo apt install python3-pip

安装opencv-python

pip install opencv-python

安装pyrealsense2

pip install pyrealsense2

1.3. 获取深度图

新建t265_stereo

vim t265_stereo.py

添加下面代码

#!/usr/bin/python
# -*- coding: utf-8 -*-
## License: Apache 2.0. See LICENSE file in root directory.
## Copyright(c) 2019 Intel Corporation. All Rights Reserved.
# Python 2/3 compatibility
from __future__ import print_function

"""
This example shows how to use T265 intrinsics and extrinsics in OpenCV to
asynchronously compute depth maps from T265 fisheye images on the host.
T265 is not a depth camera and the quality of passive-only depth options will
always be limited compared to (e.g.) the D4XX series cameras. However, T265 does
have two global shutter cameras in a stereo configuration, and in this example
we show how to set up OpenCV to undistort the images and compute stereo depth
from them.
Getting started with python3, OpenCV and T265 on Ubuntu 16.04:
First, set up the virtual enviroment:
$ apt-get install python3-venv  # install python3 built in venv support
$ python3 -m venv py3librs      # create a virtual environment in pylibrs
$ source py3librs/bin/activate  # activate the venv, do this from every terminal
$ pip install opencv-python     # install opencv 4.1 in the venv
$ pip install pyrealsense2      # install librealsense python bindings
Then, for every new terminal:
$ source py3librs/bin/activate  # Activate the virtual environment
$ python3 t265_stereo.py        # Run the example
"""

# First import the library
import pyrealsense2 as rs

# Import OpenCV and numpy
import cv2
import numpy as np
from math import tan, pi

"""
In this section, we will set up the functions that will translate the camera
intrinsics and extrinsics from librealsense into parameters that can be used
with OpenCV.
The T265 uses very wide angle lenses, so the distortion is modeled using a four
parameter distortion model known as Kanalla-Brandt. OpenCV supports this
distortion model in their "fisheye" module, more details can be found here:
https://docs.opencv.org/3.4/db/d58/group__calib3d__fisheye.html
"""

"""
Returns R, T transform from src to dst
"""
def get_extrinsics(src, dst):
    extrinsics = src.get_extrinsics_to(dst)
    R = np.reshape(extrinsics.rotation, [3,3]).T
    T = np.array(extrinsics.translation)
    return (R, T)

"""
Returns a camera matrix K from librealsense intrinsics
"""
def camera_matrix(intrinsics):
    return np.array([[intrinsics.fx,             0, intrinsics.ppx],
                     [            0, intrinsics.fy, intrinsics.ppy],
                     [            0,             0,              1]])

"""
Returns the fisheye distortion from librealsense intrinsics
"""
def fisheye_distortion(intrinsics):
    return np.array(intrinsics.coeffs[:4])

# Set up a mutex to share data between threads 
from threading import Lock
frame_mutex = Lock()
frame_data =