- Multiple cameras GUI visualization, written in C++ for real-time viewing/speed
- Stream each camera on different ports
- Charuco board frame detection and visualization
- Refactored calibration.py with Spatial Algebra syntax so that it is very clear what transforms are happening
- cd realsense
- Run realsense multicam in background
./realsense_multicam &
- Collect data
python3 calibrate.py
- Calculate poses
python3 calculate_poses_from_data_files.py
- python3 depth2pointcloud.py
realsense_docker.dockerfile
- Confirmed working with realsense-viewer GUI
- Check if the host system can even detect it: IntelRealSense/librealsense#3519
- lsusb | grep Intel
- lsusb -D /dev/bus/usb/002/026 | grep bcdUSB
- You must run setup_udev_rules.sh on the host machine for this to work
- You actually need 60-librealsense2-udev-rules.rules in /lib/udev/rules.d for some reason..
realsense_docker_from_source.dockerfile
- You need to build from source to get the #include/realsense/rs.hpp working
- OR figure out how to include that directory
checkerboard_offset_from_tool is the translation of the Charuco board corner point from the tool center point frame
- Opencv does bgr not rgb for frames visualization
- Use ptype to get type of variable in GDB https://stackoverflow.com/questions/9568201/gdb-show-typeinfo-of-some-data
- gdb realsense_multicam