For Linux Distros, the simplest way of getting the camera servers is by downloading the binaries from our package servers depending on your computer's architecture.
For example:
sudo curl -o /usr/local/bin/intelrealgrpcserver http://packages.viam.com/apps/camera-servers/intelrealgrpcserver-latest-aarch64.AppImage
sudo chmod a+rx /usr/local/bin/intelrealgrpcserver
For MacOS (M1 macs), you can use our homebrew formula from the Viam tap:
brew install viamrobotics/brews/intel-real-grpc-server
- Intel Realsense gRPC server x86_64
- Intel Realsense gRPC server aarch64
If you get an error like "failed to set power state", or "Permission denied", you may need to install the udev rules for when the USB plugs in.
$ wget https://raw.githubusercontent.com/IntelRealSense/librealsense/7a7c2bcfbc03d45154ad63fa76b221b2bb9d228f/config/99-realsense-libusb.rules
$ sudo cp 99-realsense-libusb.rules /etc/udev/rules.d/
$ sudo udevadm control --reload-rules && udevadm trigger
You can also look at the official RealSense troubleshooting guide here.
- librealsense (tested on v2.53.1)
- https://github.com/IntelRealSense/librealsense#download-and-install
- macOS Troubleshooting
- We suggest using the following cmake replacement command
cmake .. -DBUILD_EXAMPLES=false -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DBUILD_TOOLS=false. - If you get a
-latomiclinking error, you can try removing-latomicreferences fromCMake/unix_config.cmake
- We suggest using the following cmake replacement command
- libjpegturbo
- Needed for JPEG compression.
- can try
make setup.
- The Viam API
- openssl
- protobuf
Run make setup
sudo apt install libglfw3-dev libusb-1.0-0-dev libgl1-mesa-dev libglu1-mesa-dev
git clone [email protected]:IntelRealSense/librealsense.git
cd librealsense
mkdir build && cd build
cmake ..
make -j 4
sudo make installhttps://github.com/IntelRealSense/librealsense/blob/master/doc/libuvc_installation.md
run make intelrealgrpcserver
You can then export an AppImage of the binary using
cd packaging/appimages && appimage-builder --recipe mycameraserver-`uname -m`.yml
If you have a gRPC camera server running and would like to directly query the camera, here are the instructions of how to do so.
Make sure you have buf installed.
e.g. my-server-url.local:8085
and make sure the server is running
Install grpcurl
on macOS: brew install grpcurl
On Linux: you can install the releases from github: https://github.com/fullstorydev/grpcurl/releases
Install the Viam API
You need the viam API in order for grpcurl to know what methods are available.
git clone [email protected]:viamrobotics/api.git
cd api
You can use grpcurl like curl, but for gRPC servers, rather than HTTP servers
The available VIAM camera methods are
- viam.robot.v1.RobotService/ResourceNames
- viam.component.camera.v1.CameraService/GetImage
- viam.component.camera.v1.CameraService/GetProperties
From within the API directory, you can run commands like
$ grpcurl -plaintext -protoset -protoset <(buf build -o - buf.build/viamrobotics/api) my-server-url.local:8085 viam.robot.v1.RobotService/ResourceNames
$ grpcurl -plaintext -d '{ "name": "MyCamera" }' -protoset -protoset <(buf build -o - buf.build/viamrobotics/api) my-server-url.local:8085 viam.component.camera.v1.CameraService/GetProperties
$ grpcurl -max-msg-sz 10485760 -plaintext -d '{ "name": "MyCamera", "mimeType": "image/png" }' -protoset -protoset <(buf build -o - buf.build/viamrobotics/api) my-server-url.local:8085 viam.component.camera.v1.CameraService/GetImage
You will get JSON objects as responses from the servers. Image requests will return the bytes encoded in base64.
You can use the program jq to extract the relevant bytes and info you need from the response fields, and then decode them as needed. You can extract and see the image by doing something like the following:
$ cd api
$ grpcurl -max-msg-sz 10485760 -plaintext -d '{ "name": "color", "mimeType": "image/jpeg" }' -protoset -protoset <(buf build -o - buf.build/viamrobotics/api) my-server-url.local:8085 viam.component.camera.v1.CameraService/GetImage | jq -r ".image" | base64 --decode >> output_image.jpeg
$ open output_image.jpeg
On app.viam.com, go to Config -> Processes, and put in the following:
[
{
"id": "intel",
"log": true,
"name": "/usr/local/bin/intelrealgrpcserver",
"args": [port_number, color_width, color_height, depth_width, depth_height] // Put the actual numbers you want here. If the realsense does not support the requested height and width it will error and fail to start
}
]
If you just want the defaults, dont include the “args” field. If you dont put in anything, this will set up the gRPC server running on port 8085 of your pi with the default resolution.
Additionally, after depth_height you can use --disable-depth --disable-color to disable streaming of depth or color.
Then go to Config -> Remotes, and add the following
[
{
"name": "intel",
"address": "ip-address-of-your-pi:8085", // or whatever port number you set
"insecure": true
}
]
This will add the two cameras to your robot. They will have the names intel:color and intel:depth.
Go to Config -> Components, and add the following camera model, align_color_depth.
{
"stream": "color",
"width_px": 1280, // whatever the actual height and width of your images are
"height_px": 720,
// you can get intrinsics by calling GetProperties on the intel gRPC camera server, too
"intrinsic_parameters": {
"height_px": 720,
"width_px": 1280,
"ppx": 648.1280,
"ppy": 367.736,
"fx": 900.538,
"fy": 900.818
},
"color_camera_name": "intel:color",
"depth_camera_name": "intel:depth"
}
}
"depends_on": [
"intel:color",
"intel:depth"
]
Now in the Control tab, you can see both the individual 2D camera streams, as well as the pointcloud camera of the combined color and depth image that you created with align_color_depth.