英特尔T265 通过Python API获得位置(姿态)数据

如果你想在树莓派或者jetson nano等嵌入式设备上使用Python API获得T265的数据，需要编译pyrealsense2。

• jetson nano的安装可以参考这篇文章：

jetson nano 编译pyrealsense2 运行t265_I_LOVE_MCU的博客-CSDN博客

• 树莓派4B的安装过程：

  安装要求

  • Ubuntu Mate 20.04

1.先安装ROS Noetic

（安装过程自行百度）

2.安装Realsense libraries

​ 新建个脚本

nano realsense.sh

将以下步骤粘贴进去

# preparations
export REALSENSE_SOURCE_DIR=$HOME/projects/librealsense/
sudo apt-get install guvcview git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
git clone https://github.com/IntelRealSense/librealsense.git $REALSENSE_SOURCE_DIR
mkdir $REALSENSE_SOURCE_DIR/build
cd $REALSENSE_SOURCE_DIR/build

# build
export REALSENSE_INSTALL_PREFIX=/opt/realsense
sudo mkdir -p $REALSENSE_INSTALL_PREFIX; 
sudo chown $USER:$USER -R $REALSENSE_INSTALL_PREFIX # not relay needed -> you could run _make_ followed by _sudo make install_
cmake ../ -DFORCE_RSUSB_BACKEND=true -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true -DCMAKE_INSTALL_PREFIX=$REALSENSE_INSTALL_PREFIX
make install

# extend the ld search path
sudo sh -c "echo $REALSENSE_INSTALL_PREFIX/lib > /etc/ld.so.conf.d/realsense.conf"
sudo ldconfig

# udev rules
cd ~/projects/librealsense/
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/99-realsense-libusb.rules && sudo udevadm control --reload-rules && udevadm trigger

# make cmake config avaliable
echo "export realsense2_DIR=/opt/realsense/lib/cmake/realsense2" >> ~/.bashrc

# reboot

​ 提权运行

chmod +x realsense.sh
./realsense.sh

一般要编译个2-3小时

测试代码

位置：librealsense/wrappers/python/examples/

获得位置信息：t265_example.py

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

#####################################################
##           librealsense T265 example             ##
#####################################################

# First import the library
import pyrealsense2 as rs

# Declare RealSense pipeline, encapsulating the actual device and sensors
pipe = rs.pipeline()

# Build config object and request pose data
cfg = rs.config()
cfg.enable_stream(rs.stream.pose)

# Start streaming with requested config
pipe.start(cfg)

try:
    for _ in range(50):
        # Wait for the next set of frames from the camera
        frames = pipe.wait_for_frames()

        # Fetch pose frame
        pose = frames.get_pose_frame()
        if pose:
            # Print some of the pose data to the terminal
            data = pose.get_pose_data()
            print("Frame #{}".format(pose.frame_number))
            print("Position: {}".format(data.translation))
            print("Velocity: {}".format(data.velocity))
            print("Acceleration: {}\n".format(data.acceleration))

finally:
    pipe.stop()

获得姿态信息：t265_rpy.py

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

#####################################################
##           librealsense T265 rpy example         ##
#####################################################

# First import the library
import pyrealsense2 as rs
import math as m

# Declare RealSense pipeline, encapsulating the actual device and sensors
pipe = rs.pipeline()

# Build config object and request pose data
cfg = rs.config()
cfg.enable_stream(rs.stream.pose)

# Start streaming with requested config
pipe.start(cfg)

try:
    while (True):
        # Wait for the next set of frames from the camera
        frames = pipe.wait_for_frames()

        # Fetch pose frame
        pose = frames.get_pose_frame()
        if pose:
            # Print some of the pose data to the terminal
            data = pose.get_pose_data()

            # Euler angles from pose quaternion
            # See also https://github.com/IntelRealSense/librealsense/issues/5178#issuecomment-549795232
            # and https://github.com/IntelRealSense/librealsense/issues/5178#issuecomment-550217609

            w = data.rotation.w
            x = -data.rotation.z
            y = data.rotation.x
            z = -data.rotation.y

            pitch =  -m.asin(2.0 * (x*z - w*y)) * 180.0 / m.pi;
            roll  =  m.atan2(2.0 * (w*x + y*z), w*w - x*x - y*y + z*z) * 180.0 / m.pi;
            yaw   =  m.atan2(2.0 * (w*z + x*y), w*w + x*x - y*y - z*z) * 180.0 / m.pi;
            
            print("Frame #{}".format(pose.frame_number))
            print("RPY [deg]: Roll: {0:.7f}, Pitch: {1:.7f}, Yaw: {2:.7f}".format(roll, pitch, yaw))


finally:
    pipe.stop()

参考：

Intel Realsens on Ubuntu 20.04 + ROS noetic (installation desription) - ROS Answers: Open Source Q&A Forum

https://github.com/IntelRealSense/librealsense

jetson nano 编译pyrealsense2 运行t265_I_LOVE_MCU的博客-CSDN博客