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It’s always fascinating to see what creators can do when enabled by cutting edge technology – at Intel®, we see so many different visions of the future, powered by our technologies, but made by amazing artists, designers, developers and engineers. Because Intel® RealSense™ technologies give machines the ability to sense their environment, creators have […]
Read MoreHow-to: Multiple camera setup with ROS
January 10, 2019
[…] coordinate system. We estimate the translation of cam_2 from cam_1 at 90(cm) on X-axis and 30(cm) on Y-axis. We also estimate the yaw angle of cam_2 at 120(degrees) clockwise, compared to cam_1. These are the initial parameters we set for the transformation between the 2 cameras. As for cam_3, we estimate the translation on X-axis at 160(cm) and on Y-axis at -20(cm). We estimate the yaw at 170(degrees) counter-clockwise. The following script calculates the transformation from the given parameters and publish the frame transform. Terminal 5 cd catkin_ws export ROS_MASTER_URI=http://perclnx319:11311 python src/realsense/realsense2_camera/scripts/set_cams_transforms.py cam_1_link cam_2_link 0.9 0.3 0 -120 0 0 –file ‘_cams_set_info_1_to_2’ Press Q to Quit. Now set transformation for cam_3: python src/realsense/realsense2_camera/scripts/set_cams_transforms.py cam_1_link cam_3_link 1.6 -0.2 0 170 0 0 –file ‘_cams_set_info_1_to_3’ Since set_cams_transforms.py is not a ROS-package and you can’t run 2 nodes with the same name, we run one copy at a time. From now on, the last values for the relative transformations are saved in the specified files. If you want to modify cam_2 extrinsics, type: python src/realsense/realsense2_camera/scripts/set_cams_transforms.py cam_1_link cam_2_link –file ‘_cams_set_info_1_to_2’ To modify cam_3: python src/realsense/realsense2_camera/scripts/set_cams_transforms.py cam_1_link cam_3_link –file ‘_cams_set_info_1_to_3’ Notice: Use 2 different file names for saving the results for two different sets of cameras. Visualizing the point clouds and fine-tuning the camera calibration Terminal 6 Enter the following command: ‘ rviz ‘ In RViz, do the following: 1. Set “Fixed Frame” to “cam_1_link” 2. Add -> By topic -> /cam_1/depth/color/points/PointCloud2 3. Add -> By topic -> /cam_2/depth/color/points/PointCloud2 4. Add -> By topic -> /cam_3/depth/color/points/PointCloud2 5. Add -> By display type -> TF 6. In the “Displays” window under TF > Frames enable only cam_1_link, cam_2_link and cam_3_link. Just for clarity reasons. Now three point clouds are shown together. It’s easy to see that the clouds are not […]
Read MoreProtected: Protected: Robotics
November 24, 2021There is no excerpt because this is a protected post.
Read MoreStereo depth modules and processors
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[…] Institutet. Autonomous vs. Automated When talking about drones and robots, it’s essential to understand the difference between automated and autonomous. An automated system performs the same task over and over again. Think about systems like the huge automated robotic arms that build cars. These systems have no awareness of their environment, merely repeating the […]
Read MoreChoosing an Intel® RealSense™ Depth Camera
May 24, 2018
Can’t decide between the Intel® RealSense™ D415 depth camera or the Intel® RealSense™ D435 depth camera? Choosing the right depth camera for your vision project is critical, so let’s look at some of the key similarities and differences between the two models.
Read MorePudu Robotics and Intel RealSense Technology
February 12, 2020
[…] which both avoids potential spreading of the disease, and removes people who might normally be performing that task from repeated high-risk encounters. Pudu has provided robots all over China across many affected provinces for this purpose. Pudu robot in action, Hospital in Huanggang, China While this is an unusual situation, it is an excellent […]
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