{"id":344360,"date":"2023-05-19T17:49:16","date_gmt":"2023-05-19T08:49:16","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344360"},"modified":"2023-05-23T09:16:10","modified_gmt":"2023-05-23T00:16:10","slug":"%e3%80%90unitree-go1%e3%80%91%e9%a0%ad%e9%83%a8%e3%82%ab%e3%83%a1%e3%83%a9%e3%81%ab%e3%81%8a%e3%81%91%e3%82%8bunitreecamerasdk%e3%81%aeexample%e5%ae%9f%e8%a1%8c%e6%96%b9%e6%b3%95","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/%e3%80%90unitree-go1%e3%80%91%e9%a0%ad%e9%83%a8%e3%82%ab%e3%83%a1%e3%83%a9%e3%81%ab%e3%81%8a%e3%81%91%e3%82%8bunitreecamerasdk%e3%81%aeexample%e5%ae%9f%e8%a1%8c%e6%96%b9%e6%b3%95.html","title":{"rendered":"\u3010Unitree Go1\u3011\u982d\u90e8\u30ab\u30e1\u30e9\u306b\u304a\u3051\u308bUnitreecameraSDK\u306eexample\u5b9f\u884c\u65b9\u6cd5"},"content":{"rendered":"<div style=\"text-align: center\"><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/getRawFrame_face.jpg\" alt=\"\" width=\"100%\" \/><\/div>\n<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>Unitree Go1\u306b\u642d\u8f09\u3055\u308c\u305f\u982d\u90e8\u30ab\u30e1\u30e9\uff08\u9854\u3001\u984e\uff09\u306b\u3064\u3044\u3066\u3001UnitreecameraSDK\u306eexample_getRawFrame, example_getRectFrame\u3092\u5b9f\u884c\u3059\u308b\u65b9\u6cd5\u3092\u3054\u6848\u5185\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u74b0\u5883<\/h3>\n<hr \/>\n<p>\u74b0\u5883\u306f\u3001\u6b21\u306e\u3088\u3046\u306a\u3082\u306e\u3092\u60f3\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>\u6a5f\u7a2e: <strong>R&amp;D(Edu), R&amp;D+(Edu+)<\/strong>\uff08Pro\u3067\u306f\u306a\u3044\u3082\u306e\uff09<\/li>\n<li>UnitreecameraSDK:v1.1.0\uff08https:\/\/github.com\/unitreerobotics\/UnitreecameraSDK\uff09<\/li>\n<\/ul>\n<p>\u4eca\u56de\u306f\u3001\u6700\u3082\u7c21\u6613\u7684\u306a\u65b9\u6cd5\u3068\u3057\u3066\u3001192.168.123.14\u306eJetson Nano\u306eGUI\u4e0a\u304b\u3089ssh -X\u3092\u7528\u3044\u3066\u3001\u982d\u90e8\u30ab\u30e1\u30e9\u306e\u78ba\u8a8d\u3092\u884c\u3044\u307e\u3059\u3002<br \/>\n&nbsp;<\/p>\n<h3>\uff11\uff0eUnitreecameraSDK\u306e\u30b3\u30f3\u30d1\u30a4\u30eb<\/h3>\n<hr \/>\n<p>UnitreecameraSDK\u3092\u30e1\u30fc\u30ab\u30fc\u306egithub\u304b\u3089\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001\u982d\u90e8Nano(192.168.123.13)\u306b\u7f6e\u304d\u307e\u3059\u3002<br \/>\n\uff08\u8cfc\u5165\u6642\u3001~\/Unitree\/sdk\/UnitreeCameraSdk\u306b\u30ab\u30e1\u30e9\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u3042\u308a\u307e\u3059\u306e\u3067\u3001\u3053\u3061\u3089\u3092\u7528\u3044\u3066\u672c\u8a18\u4e8b\u306e\u624b\u9806\u3092\u884c\u3046\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002\u305f\u3060\u3057\u3001\u3053\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\u5c11\u3057\u30d0\u30fc\u30b8\u30e7\u30f3\u304c\u53e4\u3044\u305f\u3081\u3001github\u306e\u3082\u306e\u3092\u4f7f\u3046\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u3066\u3044\u307e\u3059\uff09<br \/>\n\u305d\u306e\u5f8c\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ mkdir build<br \/>\n$ cd build<br \/>\n$ cmake ..<br \/>\n$ make<\/p>\n<p>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/CameraSDK.png\" alt=\"\" width=\"100%\" \/><\/p>\n<h3>\uff12\uff0eNano(14)\u3092\u76f4\u63a5\u64cd\u4f5c\u3059\u308b<\/h3>\n<hr \/>\n<p>\u307e\u305a\u3001\u80cc\u9762\u30dd\u30fc\u30c8\u306b\u30c7\u30a3\u30b9\u30d7\u30ec\u30a4\u3068\u30ad\u30fc\u30dc\u30fc\u30c9\u30fb\u30de\u30a6\u30b9\u3092\u63a5\u7d9a\u3057\u307e\u3059\uff1a<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/directConnection_Nano14.png\" alt=\"\" width=\"60%\" \/><br \/>\n\u203b\u7aef\u306eHDMI, USB\u30dd\u30fc\u30c8\u304c\u3001Nano(192.168.123.14)\u306e\u30dd\u30fc\u30c8\u306b\u5f53\u305f\u308a\u307e\u3059\u3002<\/p>\n<p>\u3059\u308b\u3068\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u307e\u3059\uff1a<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/Nano14_desktop.jpg\" alt=\"\" width=\"100%\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>\uff13\uff0eUnitreecameraSDK\u306e\u5b9f\u884c<\/h3>\n<hr \/>\n<p>Nano14\u306eGUI\u4e0a\u304b\u3089\u3001ssh -X\u63a5\u7d9a\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ ssh unitree@192.168.123.13 -X<\/p>\n<p>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/ssh-X_HeadNano.jpg\" alt=\"\" width=\"100%\" \/><br \/>\n&nbsp;<br \/>\n\u6b21\u306b\u3001\u81ea\u52d5\u8d77\u52d5\u3057\u3066\u3044\u308bcameraROSnode\u306e\u30d7\u30ed\u30bb\u30b9\u3092kill\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ cd ~\/Unitree\/autostart\/camerarosnode\/cameraRosNode<br \/>\n$ .\/kill.sh<\/p>\n<p>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/kill_camerarosnode.jpg\" alt=\"\" width=\"100%\" \/><br \/>\n&nbsp;<br \/>\n\u305d\u306e\u5f8c\u3001UnitreecameraSDK\u3092\u5b9f\u884c\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ .\/example_getRawFrame<\/p>\n<p>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/getRawFrame_chin.jpg\" alt=\"\" width=\"60%\" \/><\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ .\/example_getRawFrame 1<\/p>\n<p>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/getRawFrame_face.jpg\" alt=\"\" width=\"60%\" \/><br \/>\n\u203b \/dev\/video0\u304c\u984e\u30ab\u30e1\u30e9\u3001\/dev\/video1\u304c\u6b63\u9762\u30ab\u30e1\u30e9\u306b\u5272\u308a\u632f\u3089\u308c\u3066\u3044\u307e\u3059<br \/>\n&nbsp;<br \/>\n\u307e\u305f\u3001\u9577\u65b9\u5f62\u6574\u5f62\u3055\u308c\u305f\u753b\u50cf\u306e\u53d6\u5f97\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u884c\u3044\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ .\/bins\/example_getRectFrame<\/p>\n<p>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/getRectFrame_chin.jpg\" alt=\"\" width=\"100%\" \/><br \/>\n\u203b .\/bin\/\u3068\uff11\u3064\u4e0a\u306e\u968e\u5c64\u304b\u3089\u884c\u3046\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059<br \/>\n\u203b ~\/Unitree\/sdk\/UnitreeCameraSdk\u306b\u3042\u308b\u53e4\u3044\u30d0\u30fc\u30b8\u30e7\u30f3\u306e\u3082\u306e\u3067\u884c\u3046\u5834\u5408\u3001\u7d50\u679c\u304c\u5c11\u3057\u7570\u306a\u308a\u307e\u3059<\/p>\n<p>example_getRectFrame\u3092\u7528\u3044\u3066\u3001\u6b63\u9762\u9854\u30ab\u30e1\u30e9\u3092\u53d6\u5f97\u3059\u308b\u5834\u5408\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3057\u307e\u3059\u3002<br \/>\n\u307e\u305a\u3001stereo_camera_config\u306edevice number\u3092\u5909\u66f4\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ vi stereo_camera_config.yaml<\/p>\n<p>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/vi_camera_yaml.jpg\" alt=\"\" width=\"100%\" \/><br \/>\n\u6b21\u306b\u3001\u5b9f\u884c\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ .\/bins\/example_getRectFrame<\/p>\n<p>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/getRectFrame_face.jpg\" alt=\"\" width=\"100%\" \/><br \/>\n\u203b ~\/Unitree\/sdk\/UnitreeCameraSdk\u306b\u3042\u308b\u53e4\u3044\u30d0\u30fc\u30b8\u30e7\u30f3\u306e\u3082\u306e\u3067\u884c\u3046\u5834\u5408\u3001.\/example_getRectFrame 1\u3067\u5b9f\u884c\u53ef\u80fd\u3067\u3059<br \/>\n&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>\u982d\u90e8\u30ab\u30e1\u30e9\u306b\u304a\u3051\u308bUnitreecameraSDK\u306eexample\u5b9f\u884c\u65b9\u6cd5\u3092\u898b\u3066\u304d\u307e\u3057\u305f\u3002<br \/>\n\u3053\u306e\u8a18\u4e8b\u304c\u5c11\u3057\u3067\u3082\u5f79\u306b\u7acb\u3066\u305f\u306e\u306a\u3089\u5e78\u3044\u3067\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u521d\u3081\u306b Unitree Go1\u306b\u642d\u8f09\u3055\u308c\u305f\u982d\u90e8\u30ab\u30e1\u30e9\uff08\u9854\u3001\u984e\uff09\u306b\u3064\u3044\u3066\u3001UnitreecameraSDK\u306eexample_getRawFrame, example_getRectFrame\u3092\u5b9f\u884c\u3059\u308b\u65b9\u6cd5\u3092\u3054\u6848\u5185\u3057\u307e\u3059\u3002  &hellip;<\/p>\n","protected":false},"author":15,"featured_media":344373,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,26,51],"tags":[],"class_list":["post-344360","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-go1","category-unitree","category-unitree-tips"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344360","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/15"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=344360"}],"version-history":[{"count":15,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344360\/revisions"}],"predecessor-version":[{"id":344495,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344360\/revisions\/344495"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media\/344373"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=344360"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=344360"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=344360"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}