'프로그램 사용' 카테고리의 글 목록 (4 Page)

'프로그램 사용'에 해당되는 글 2645건

2026.07.14 blender bpy metric
2026.07.14 blender render / sample
2026.07.13 blender animation (keyframe)
2026.07.13 bpy built-on module on blender
2026.07.13 blender constraint "track to "
2026.07.13 openSCAD + claude.ai = 파라메트릭 모델링
2026.07.12 bpy 설치 + 간단 테스트
2026.07.10 blender armature ik (각도 제한 등)
2026.07.10 bpy - Blender as a Python module
2026.07.10 ubuntu 22.04 / libfreenect2 / ros / 2760p(i5-2520m) 실패

blender bpy metric

구글 ai 님께서 말씀하시길 metric이면 m 단위라고 하신다.

import bpy

# Get reference to the active object
obj = bpy.context.active_object

# Read the current location (returns a Vector of X, Y, Z in meters)
print(obj.location)

# Set location using standard meters (X=1m, Y=2m, Z=3m)
obj.location = (1.0, 2.0, 3.0)

# Modify a single axis (e.g., set X to 5 meters)
obj.location.x = 5.0

[링크 : https://docs.blender.org/api/current/bpy.types.UnitSettings.html]

blend 파일에서 meters 라고 되어있고 중앙의 소방관 모델과

6.5 칸 정도이고, 소방관은 1.8m 정도 키인것 같다.

x는 좌우로 5m 까지 이동

y는 -4m 로 고정(현재보다 앞으로 2.5m 이동)

z는 1~5m 높이로 이동 하도록 해서 했더니

import bpy
import random
import os

# -------------------------
# 설정
# -------------------------
NUM_IMAGES = 200

cube = bpy.data.objects["Node_1"]
light = bpy.data.objects["Spot"]

scene = bpy.context.scene

scene.render.engine = 'BLENDER_EEVEE'
scene.render.resolution_x = 640
scene.render.resolution_y = 480
scene.render.resolution_percentage = 100

# 저장 폴더 (blend 파일 기준)
output_dir = bpy.path.abspath("//render_output")
os.makedirs(output_dir, exist_ok=True)

# PNG 저장
scene.render.image_settings.file_format = 'PNG'

# -------------------------
# 렌더링 루프
# -------------------------
for i in range(NUM_IMAGES):
    # Cube 랜덤 이동
    cube.location.x = random.uniform(-2.0, 2.0)
    cube.location.y = random.uniform(-2.0, 2.0)
    cube.location.z = random.uniform(0.0, 0.0)
    # Spot Light 랜덤 이동
    light.location.x = random.uniform(-5.0, 5.0)
    light.location.y = random.uniform(-4.0, -4.0)
    light.location.z = random.uniform(1.0, 5.0)
    # 렌더 저장 경로
    scene.render.filepath = os.path.join(output_dir, f"image_{i:03d}.png")
    print(f"Rendering {scene.render.filepath}")
    bpy.ops.render.render(write_still=True)

print("Done.")

대충 의도한 대로 나와주긴 하는 듯?

저작자표시 (새창열림)

'프로그램 사용 > Blender' 카테고리의 다른 글

blender 모션캡쳐 관련 (0)	2026.07.14
blender bpy armatrue / metarig (0)	2026.07.14
blender render / sample (0)	2026.07.14
blender animation (keyframe) (0)	2026.07.13
bpy built-on module on blender (0)	2026.07.13

Posted by 구차니

blender render / sample

인터넷 찾아보니

sample은 n 번 빛 반사 하는것 까지 추적한다는 의미라고 하는데..

eevee 렌더러(5.1.2 기본) 의 기본 설정값

viewport 16 sample

render 64 sample

sample 1 - 그림자에 대한 alias가 심하고 일부 부위에서 구멍남(팔)

sample 2 - sample 1 대비 구멍은 좀 사라지는 느낌

sample 4 - 나쁘진 않은데 그림자가 여전히 계단진 느낌

sample 8 - 이제 슬슬 숨은 그림 찾기 느낌..

sample 16 - eevee viewport 기본값

sample 32

sample 64 - eevee render 기본값

cycle (구형 렌더러, cuda 가속 지원, raytrace)

기본값이 전반적으로 엄청 높다. preview가 viewport가 아니었나 보다?

viewport 1024

render 4096

sample 1

sample 1 / denoise - 이래서 smaple 줄이고 denoise 활성화 하라는 거였나.

sample 2

sample 4

sample 8

sample 16 - 빛이 잘닫는 부분은 괜찮은데 옆구리 쪽은 여전히 노이즈가 심하다.

sample 32

sample 64

sample 512 - 옆구리 노이즈도 거의 사라짐.

저작자표시 (새창열림)

'프로그램 사용 > Blender' 카테고리의 다른 글

blender bpy armatrue / metarig (0)	2026.07.14
blender bpy metric (0)	2026.07.14
blender animation (keyframe) (0)	2026.07.13
bpy built-on module on blender (0)	2026.07.13
blender constraint "track to " (0)	2026.07.13

Posted by 구차니

blender animation (keyframe)

예전에는 타임라인만 옮기고 설정하면 바로바로 되었던것 같은데

먼가 바뀌었나 안된다.

객체를 선택 - I - 속성 선택

[링크 : https://blog.naver.com/kkongbi_/223181556069]

저작자표시 (새창열림)

'프로그램 사용 > Blender' 카테고리의 다른 글

blender bpy metric (0)	2026.07.14
blender render / sample (0)	2026.07.14
bpy built-on module on blender (0)	2026.07.13
blender constraint "track to " (0)	2026.07.13
bpy 설치 + 간단 테스트 (0)	2026.07.12

Posted by 구차니

bpy built-on module on blender

gpt 물어보니 별도로 깔지 말고

blender 내의 scripting 에서 바로 할 수 있다고 한다.

built in module로 bpy 가 있다고 뜬다.

카메라와 spotlight를 track to 로 cube에 연결하고,

spot light를 옮겨서 렌더해봄.

그런데 아쉬운건.. 렌더를 for문 돌려서 하는데 blender 자체가 먹통이 된다는 점..

import bpy
import random
import os

# -------------------------
# 설정
# -------------------------
NUM_IMAGES = 10

cube = bpy.data.objects["Cube"]
light = bpy.data.objects["Spot"]

scene = bpy.context.scene

# 저장 폴더 (blend 파일 기준)
output_dir = bpy.path.abspath("//render_output")
os.makedirs(output_dir, exist_ok=True)

# PNG 저장
scene.render.image_settings.file_format = 'PNG'

# -------------------------
# 렌더링 루프
# -------------------------
for i in range(NUM_IMAGES):
    # Cube 랜덤 이동
    # cube.location.x = random.uniform(-2.0, 2.0)
    # cube.location.y = random.uniform(-2.0, 2.0)
    # cube.location.z = random.uniform(0.0, 2.0)
    # Spot Light 랜덤 이동
    light.location.x = random.uniform(-5.0, 5.0)
    light.location.y = random.uniform(-5.0, 5.0)
    light.location.z = random.uniform(3.0, 8.0)
    # 렌더 저장 경로
    scene.render.filepath = os.path.join(output_dir, f"image_{i:03d}.png")
    print(f"Rendering {scene.render.filepath}")
    bpy.ops.render.render(write_still=True)

print("Done.")

결과물 짜잔~

해상도를 줄이고, 렌더러를 eevee로 변경.

PYTHON INTERACTIVE CONSOLE 3.13.9 (main, Apr 25 2025, 12:39:20) [GCC 14.2.1 20250110 (Red Hat 14.2.1-7)]

Builtin Modules:       bpy, bpy.data, bpy.ops, bpy.props, bpy.types, bpy.context, bpy.utils, gpu, blf, mathutils
Convenience Imports:   from mathutils import *; from math import *
Convenience Variables: C = bpy.context, D = bpy.data

>>> import random
>>> import os
>>>
>>> # -------------------------
>>> # 설정
>>> # -------------------------
>>> NUM_IMAGES = 10
>>>
>>> cube = bpy.data.objects["Cube"]
>>> light = bpy.data.objects["Spot"]
>>>
>>> scene = bpy.context.scene
>>>
>>> scene.render.engine = 'BLENDER_EEVEE'
>>> scene.render.resolution_x = 640
>>> scene.render.resolution_y = 480
>>> scene.render.resolution_percentage = 100
>>>
>>> # 저장 폴더 (blend 파일 기준)
>>> output_dir = bpy.path.abspath("//render_output")
>>> os.makedirs(output_dir, exist_ok=True)
>>>
>>> # PNG 저장
>>> scene.render.image_settings.file_format = 'PNG'
>>>
>>> # -------------------------
>>> # 렌더링 루프
>>> # -------------------------
>>> for i in range(NUM_IMAGES):
...     # Cube 랜덤 이동
...     # cube.location.x = random.uniform(-2.0, 2.0)
...     # cube.location.y = random.uniform(-2.0, 2.0)
...     # cube.location.z = random.uniform(0.0, 2.0)
...     # Spot Light 랜덤 이동
...     light.location.x = random.uniform(-5.0, 5.0)
...     light.location.y = random.uniform(-5.0, 5.0)
...     light.location.z = random.uniform(3.0, 8.0)
...     # 렌더 저장 경로
...     scene.render.filepath = os.path.join(output_dir, f"image_{i:03d}.png")
...     print(f"Rendering {scene.render.filepath}")
...     bpy.ops.render.render(write_still=True)
...
Rendering /home/falinux/render_output/image_000.png
{'FINISHED'}
Rendering /home/falinux/render_output/image_001.png
{'FINISHED'}
Rendering /home/falinux/render_output/image_002.png
{'FINISHED'}
Rendering /home/falinux/render_output/image_003.png
{'FINISHED'}
Rendering /home/falinux/render_output/image_004.png
{'FINISHED'}
Rendering /home/falinux/render_output/image_005.png
{'FINISHED'}
Rendering /home/falinux/render_output/image_006.png
{'FINISHED'}
Rendering /home/falinux/render_output/image_007.png
{'FINISHED'}
Rendering /home/falinux/render_output/image_008.png
{'FINISHED'}
Rendering /home/falinux/render_output/image_009.png
{'FINISHED'}

>>> print("Done.")

파일로 저장하고 다음과 같이 옵션주면 명령줄에서 블렌더 gui 뜨지 않고 수행된다.

$ blender --background ./Untitled.blend  --python render.py
Blender 5.1.2 (hash ec6e62d40fa9 built 2026-05-19 02:18:37)
Reloading external rigs...
Reloading external metarigs...
00:01.973  blend            | Read blend: "/home/falinux/Untitled.blend"
Rendering /home/falinux/render_output/image_000.png
00:03.747  render           | Saved: '/home/falinux/render_output/image_000.png'
Rendering /home/falinux/render_output/image_001.png
00:05.350  render           | Saved: '/home/falinux/render_output/image_001.png'
Rendering /home/falinux/render_output/image_002.png
00:06.877  render           | Saved: '/home/falinux/render_output/image_002.png'
Rendering /home/falinux/render_output/image_003.png
00:08.413  render           | Saved: '/home/falinux/render_output/image_003.png'
Rendering /home/falinux/render_output/image_004.png
00:10.050  render           | Saved: '/home/falinux/render_output/image_004.png'
Rendering /home/falinux/render_output/image_005.png
00:11.633  render           | Saved: '/home/falinux/render_output/image_005.png'
Rendering /home/falinux/render_output/image_006.png
00:13.181  render           | Saved: '/home/falinux/render_output/image_006.png'
Rendering /home/falinux/render_output/image_007.png
00:14.699  render           | Saved: '/home/falinux/render_output/image_007.png'
Rendering /home/falinux/render_output/image_008.png
00:16.263  render           | Saved: '/home/falinux/render_output/image_008.png'
Rendering /home/falinux/render_output/image_009.png
00:17.888  render           | Saved: '/home/falinux/render_output/image_009.png'
Done.

Blender quit

귀찮으면 -b -P

$ blender --help
Blender 5.1.2
Usage: blender [args ...] [file] [args ...]

Render Options:
-b or --background
Run in background (often used for UI-less rendering).

The audio device is disabled in background-mode by default
and can be re-enabled by passing in '-setaudio Default' afterwards.

Python Options:

-P or --python <filepath>
Run the given Python script file.

+

gpu 가속 - eevee는 안되고 cycles만 된다고 하는데 확인 필요

$ cat ../fire_render.py
import bpy
import random
import os

# -------------------------
# 설정
# -------------------------
NUM_IMAGES = 10

cube = bpy.data.objects["Node_1"]
light = bpy.data.objects["Spot"]

scene = bpy.context.scene

#scene.render.engine = 'BLENDER_EEVEE'
scene.render.engine = 'CYCLES'
scene.cycles.device = 'GPU'

scene.render.resolution_x = 640
scene.render.resolution_y = 480
scene.render.resolution_percentage = 100

prefs = bpy.context.preferences.addons["cycles"].preferences
prefs.compute_device_type = "CUDA"
prefs.refresh_devices()

for device in prefs.devices:
    device.use = True
    print(device.name, device.type)

# 저장 폴더 (blend 파일 기준)
output_dir = bpy.path.abspath("//render_output")
os.makedirs(output_dir, exist_ok=True)

# PNG 저장
scene.render.image_settings.file_format = 'PNG'

# -------------------------
# 렌더링 루프
# -------------------------
for i in range(NUM_IMAGES):
    # Cube 랜덤 이동
    cube.location.x = random.uniform(-2.0, 2.0)
    cube.location.y = random.uniform(-2.0, 2.0)
    cube.location.z = random.uniform(0.0, 2.0)
    # Spot Light 랜덤 이동
    light.location.x = random.uniform(-5.0, 5.0)
    light.location.y = random.uniform(-5.0, 5.0)
    light.location.z = random.uniform(3.0, 8.0)
    # 렌더 저장 경로
    scene.render.filepath = os.path.join(output_dir, f"image_{i:03d}.png")
    print(f"Rendering {scene.render.filepath}")
    bpy.ops.render.render(write_still=True)

print("Done.")

Intel(R) Core(TM) i7-10510U 뺘르다고 생각을 안했었는데..

$ time blender -b firefigher.blend -P fire_render.py
Blender 5.1.2 (hash ec6e62d40fa9 built 2026-05-19 02:18:37)
Reloading external rigs...
Reloading external metarigs...
00:03.094  blend            | Read blend: "/home/minimonk/20260713 render/firefigher.blend"
Rendering /home/minimonk/20260713 render/render_output/image_000.png
00:05.087  render           | Saved: '/home/minimonk/20260713 render/render_output/image_000.png'
Rendering /home/minimonk/20260713 render/render_output/image_001.png
00:06.989  render           | Saved: '/home/minimonk/20260713 render/render_output/image_001.png'
Rendering /home/minimonk/20260713 render/render_output/image_002.png
00:08.897  render           | Saved: '/home/minimonk/20260713 render/render_output/image_002.png'
Rendering /home/minimonk/20260713 render/render_output/image_003.png
00:10.778  render           | Saved: '/home/minimonk/20260713 render/render_output/image_003.png'
Rendering /home/minimonk/20260713 render/render_output/image_004.png
00:12.696  render           | Saved: '/home/minimonk/20260713 render/render_output/image_004.png'
Rendering /home/minimonk/20260713 render/render_output/image_005.png
00:14.746  render           | Saved: '/home/minimonk/20260713 render/render_output/image_005.png'
Rendering /home/minimonk/20260713 render/render_output/image_006.png
00:16.792  render           | Saved: '/home/minimonk/20260713 render/render_output/image_006.png'
Rendering /home/minimonk/20260713 render/render_output/image_007.png
00:18.709  render           | Saved: '/home/minimonk/20260713 render/render_output/image_007.png'
Rendering /home/minimonk/20260713 render/render_output/image_008.png
00:20.950  render           | Saved: '/home/minimonk/20260713 render/render_output/image_008.png'
Rendering /home/minimonk/20260713 render/render_output/image_009.png
00:22.887  render           | Saved: '/home/minimonk/20260713 render/render_output/image_009.png'
Done.

Blender quit

real 0m23.343s
user 0m10.385s
sys 0m5.169s

엥... 데탑 + 그래픽 카드인데 왜 노트북 만도 못하지?

일단 ssh -X 옵션으로 해서 그런가.. 이상하게 느림

$ time blender --background ./firefigher.blend --python fire_render.py --gpu-backend opengl
Blender 5.1.2 (hash ec6e62d40fa9 built 2026-05-19 02:18:37)
00:01.277  blend            | Read blend: "/home/minimonk/firefigher.blend"
00:01.360  cycles           | WARNING HIPEW initialization failed: Error opening HIP dynamic library
NVIDIA GeForce GTX 1080 Ti CUDA
NVIDIA GeForce GTX 1080 Ti CUDA
Intel Core i5-8500 CPU @ 3.00GHz CPU
NVIDIA GeForce GTX 1080 Ti OPTIX
NVIDIA GeForce GTX 1080 Ti OPTIX
Rendering /home/minimonk/render_output/image_000.png
00:08.547  render           | Saved: '/home/minimonk/render_output/image_000.png'
Rendering /home/minimonk/render_output/image_001.png
00:13.898  render           | Saved: '/home/minimonk/render_output/image_001.png'
Rendering /home/minimonk/render_output/image_002.png
00:19.551  render           | Saved: '/home/minimonk/render_output/image_002.png'
Rendering /home/minimonk/render_output/image_003.png
00:26.421  render           | Saved: '/home/minimonk/render_output/image_003.png'
Rendering /home/minimonk/render_output/image_004.png
00:33.915  render           | Saved: '/home/minimonk/render_output/image_004.png'
Rendering /home/minimonk/render_output/image_005.png
00:39.808  render           | Saved: '/home/minimonk/render_output/image_005.png'
Rendering /home/minimonk/render_output/image_006.png
00:45.484  render           | Saved: '/home/minimonk/render_output/image_006.png'
Rendering /home/minimonk/render_output/image_007.png
00:50.785  render           | Saved: '/home/minimonk/render_output/image_007.png'
Rendering /home/minimonk/render_output/image_008.png
00:56.725  render           | Saved: '/home/minimonk/render_output/image_008.png'
Rendering /home/minimonk/render_output/image_009.png
01:03.617  render           | Saved: '/home/minimonk/render_output/image_009.png'
Done.

Blender quit

real 1m3.925s
user 4m1.146s
sys 0m21.034s

i5-8500 에서 CPU 렌더 돌리는데 왜 이따구지?

$ time blender --background ./firefigher.blend --python cpu_render.py
Blender 5.1.2 (hash ec6e62d40fa9 built 2026-05-19 02:18:37)
00:01.285  blend            | Read blend: "/home/minimonk/firefigher.blend"
Rendering /home/minimonk/render_output/image_000.png
00:24.717  render           | Saved: '/home/minimonk/render_output/image_000.png'
Rendering /home/minimonk/render_output/image_001.png
01:05.764  render           | Saved: '/home/minimonk/render_output/image_001.png'
Rendering /home/minimonk/render_output/image_002.png
01:47.330  render           | Saved: '/home/minimonk/render_output/image_002.png'
Rendering /home/minimonk/render_output/image_003.png
02:28.293  render           | Saved: '/home/minimonk/render_output/image_003.png'
Rendering /home/minimonk/render_output/image_004.png
03:15.950  render           | Saved: '/home/minimonk/render_output/image_004.png'
Rendering /home/minimonk/render_output/image_005.png
03:57.923  render           | Saved: '/home/minimonk/render_output/image_005.png'
Rendering /home/minimonk/render_output/image_006.png
04:40.469  render           | Saved: '/home/minimonk/render_output/image_006.png'
Rendering /home/minimonk/render_output/image_007.png
05:22.630  render           | Saved: '/home/minimonk/render_output/image_007.png'
Rendering /home/minimonk/render_output/image_008.png
06:11.436  render           | Saved: '/home/minimonk/render_output/image_008.png'
Rendering /home/minimonk/render_output/image_009.png
06:56.409  render           | Saved: '/home/minimonk/render_output/image_009.png'
Done.

Blender quit

real 6m56.760s
user 17m10.307s
sys 0m6.312s

키프레임이 27에 있었는데 그거 때문에 그런가.. 이상하게 느리네

0 프레임으로 옮기고

cpu only 20.902s

gpu use 1m 0.646s 아니 왜 더 느려?

+

ssh -X 빼고 했더니 빨라졌다(!) 머냐?

gpu
real 1m3.835s

cpu
real 0m19.610s

저작자표시 (새창열림)

'프로그램 사용 > Blender' 카테고리의 다른 글

blender render / sample (0)	2026.07.14
blender animation (keyframe) (0)	2026.07.13
blender constraint "track to " (0)	2026.07.13
bpy 설치 + 간단 테스트 (0)	2026.07.12
blender armature ik (각도 제한 등) (0)	2026.07.10

Posted by 구차니

blender constraint "track to "

오.. 자동으로 돌아간다 좋은데?

bpy 예제. 해보진 않았음

# Constraint 추가
track = camera.constraints.get("Track To")
if track is None:
track = camera.constraints.new(type='TRACK_TO')

저작자표시 (새창열림)

'프로그램 사용 > Blender' 카테고리의 다른 글

blender animation (keyframe) (0)	2026.07.13
bpy built-on module on blender (0)	2026.07.13
bpy 설치 + 간단 테스트 (0)	2026.07.12
blender armature ik (각도 제한 등) (0)	2026.07.10
bpy - Blender as a Python module (0)	2026.07.10

Posted by 구차니

openSCAD + claude.ai = 파라메트릭 모델링

혹시나 claude 에게 openSCAD로 그릴수 있어? 하니까

잘 그려줌.

역시 ai던 사람이던 긁으면 잘 해주나? ㅋㅋㅋ

(근데 그리고 나서 프린트 하기 전에 확인해보니 플랜지 부분이 너무 작게 나왔다고.. 야이!!! 좀 더 긁어야겠다)

칼 그리고 싶었다는데 먼가 군용 나이프 스타일이 되어버렸고

위 이미지 왼쪽의 소스코드는 모델을 생성하는데 사용된다.

적당~~히 수정하면 변하긴 하는데 직접 짜는건 아직 무리

// myCobot 280 Pi wrist flange knife tool
// Flange ref: OD 30mm, 4x M2.5 tapped holes @ r=12mm (0/90/180/270deg), depth 5mm
// Blade extends axially (Z+) away from the flange face

/* ===== Parameters ===== */
base_d      = 30;   // base plate diameter, matches flange OD
base_h      = 4;    // base plate thickness
hole_r      = 12;   // mounting hole bolt-circle radius (estimated from drawing)
hole_d      = 2.8;  // M2.5 clearance hole diameter

blade_width   = 20;  // blade "height" (front-view width)
blade_thick   = 2;   // blade thickness
blade_len     = 100; // total blade length
blade_taper_len = 40; // length of the pointed tip section
blade_straight_len = blade_len - blade_taper_len;

$fn = 120;

/* ===== Modules ===== */
module base_plate() {
    difference() {
        cylinder(d = base_d, h = base_h);
        for (a = [0, 90, 180, 270])
            translate([hole_r*cos(a), hole_r*sin(a), -1])
                cylinder(d = hole_d, h = base_h + 2, $fn = 32);
    }
}

module blade_profile() {
    polygon([
        [-blade_width/2, 0],
        [ blade_width/2, 0],
        [ blade_width/2, blade_straight_len],
        [ 0, blade_len],
        [-blade_width/2, blade_straight_len]
    ]);
}

module blade() {
    linear_extrude(height = blade_thick)
        blade_profile();
}

module knife_tool() {
    overlap = 1; // embed blade root into the base plate for a solid weld
    union() {
        base_plate();
        translate([0, blade_thick/2, base_h - overlap])
            rotate([90, 0, 0])
            blade();
    }
}

knife_tool();

openscad 에서 자체적으로 stl 출력 기능이 있구나.. 당연한건가?

$ openscad -o knife_tool.stl knife_tool.scad 2>&1

그냥 버텍스만 쭈르르르륵 나오는구만.

solid OpenSCAD_Model
  facet normal -0.956908 -0.290392 0
    outer loop
      vertex 13.3731 0.273126 0
      vertex 13.2934 0.535756 4
      vertex 13.2934 0.535756 0
    endloop
  endfacet
  facet normal -0.956908 -0.290392 0
    outer loop
      vertex 13.2934 0.535756 4
      vertex 13.3731 0.273126 0
      vertex 13.3731 0.273126 4
    endloop
  endfacet
...
  facet normal -1 0 0
    outer loop
      vertex -10 -1 4
      vertex -10 1 63
      vertex -10 1 4
    endloop
  endfacet
  facet normal -1 -0 0
    outer loop
      vertex -10 1 63
      vertex -10 -1 4
      vertex -10 -1 63
    endloop
  endfacet
endsolid OpenSCAD_Model

저작자표시 (새창열림)

'프로그램 사용 > openSCAD' 카테고리의 다른 글

openSCAD MCP (0)	2026.06.20
pythonSCAD (0)	2026.06.20
openSCAD cheatsheet (0)	2026.06.20
openSCAD 설치 (0)	2026.06.20
openscad (0)	2026.05.27

Posted by 구차니

bpy 설치 + 간단 테스트

ubuntu 22.04 에서 해서 그런가 에러가 난다

$ pip3 install bpy
Defaulting to user installation because normal site-packages is not writeable
ERROR: Could not find a version that satisfies the requirement bpy (from versions: none)
ERROR: No matching distribution found for bpy

$ pip install bpy==3.6.0 --extra-index-url https://download.blender.org/pypi/
Defaulting to user installation because normal site-packages is not writeable
Looking in indexes: https://pypi.org/simple, https://download.blender.org/pypi/
Collecting bpy==3.6.0
  Downloading bpy-3.6.0-cp310-cp310-manylinux_2_28_x86_64.whl (371.4 MB)
     ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 371.4/371.4 MB 10.2 MB/s  0:00:36
Collecting cython (from bpy==3.6.0)
  Downloading cython-3.2.8-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl.metadata (4.2 kB)
Requirement already satisfied: numpy in /usr/lib/python3/dist-packages (from bpy==3.6.0) (1.21.5)
Requirement already satisfied: requests in /usr/lib/python3/dist-packages (from bpy==3.6.0) (2.25.1)
Collecting zstandard (from bpy==3.6.0)
  Downloading zstandard-0.25.0-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata (3.3 kB)
Downloading cython-3.2.8-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl (3.5 MB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 3.5/3.5 MB 9.6 MB/s  0:00:00
Downloading zstandard-0.25.0-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (5.6 MB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 5.6/5.6 MB 10.0 MB/s  0:00:00
Installing collected packages: zstandard, cython, bpy
   ━━━━━━━━━━━━━╺━━━━━━━━━━━━━━━━━━━━━━━━━━ 1/3 [cython]  WARNING: The scripts cygdb, cython and cythonize are installed in '/home/minimonk/.local/bin' which is not on PATH.
  Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
Successfully installed bpy-3.6.0 cython-3.2.8 zstandard-0.25.0

[링크 : https://pypi.org/project/bpy/]

구글 ai 개요에 의한 추천

$ python3
Python 3.10.12 (main, Jun 22 2026, 18:55:27) [GCC 11.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import bpy
>>>
>>> # 1. 기존 큐브 삭제 및 새로운 큐브 생성
>>> bpy.ops.object.select_all(action='DESELECT')
{'FINISHED'}
>>> if "Cube" in bpy.data.objects:
... bpy.data.objects["Cube"].select_set(True)
... bpy.ops.object.delete()
...
{'FINISHED'}
>>> bpy.ops.mesh.primitive_cube_add(size=2, location=(0, 0, 0))
{'FINISHED'}
>>> cube = bpy.context.active_object
>>>
>>> # 2. 카메라 설정
>>> bpy.ops.object.camera_add(location=(7, -7, 5))
{'FINISHED'}
>>> camera = bpy.context.active_object
>>> camera.rotation_euler = (0.785, 0, 0.785) # 약 45도 회전
>>> bpy.context.scene.camera = camera
>>>
>>> # 3. 조명(Light) 설정
>>> bpy.ops.object.light_add(type='SUN', location=(5, -5, 10))
{'FINISHED'}
>>> light = bpy.context.active_object
>>> light.data.energy = 1000
>>>
>>> # 4. 렌더링 설정 및 실행
>>> scene = bpy.context.scene
>>> scene.render.image_settings.file_format = 'PNG'
>>> scene.render.filepath = "/tmp/render_output.png"
>>>
>>> # 렌더링 시작
>>> bpy.ops.render.render(write_still=True)
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
Fra:1 Mem:42.56M (Peak 43.65M) | Time:00:00.98 | Syncing Light
Fra:1 Mem:42.56M (Peak 43.65M) | Time:00:00.98 | Syncing Camera
Fra:1 Mem:42.56M (Peak 43.65M) | Time:00:00.98 | Syncing Cube
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:02.32 | Syncing Camera.001
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:02.32 | Syncing Sun
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:02.35 | Rendering 1 / 64 samples
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:03.47 | Rendering 26 / 64 samples
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:03.89 | Rendering 51 / 64 samples
Fra:1 Mem:42.60M (Peak 43.65M) | Time:00:04.10 | Rendering 64 / 64 samples
Saved: '/tmp/render_output.png'
Time: 00:04.73 (Saving: 00:00.53)

{'FINISHED'}
>>>
>>> print("렌더링 완료! 저장 경로:", scene.render.filepath)
렌더링 완료! 저장 경로: /tmp/render_output.png
>>> bpy.ops.wm.save_as_mainfile(filepath="test.blend")
Info: Total files 0 | Changed 0 | Failed 0
Info: Saved "test.blend"
{'FINISHED'}

카메라가 위치 잘못 조정되었는지 이상하게 나오긴 했는데

아무튼 이렇게 렌더도 가능하다.

특이한건.. gui 로는 보이지도 않고 수행된다는 점.

test.blend 열어보니 기본 카메라가 있는데 또 추가해서 이상하게 보이는 느낌

blend 파일을 읽어서

저장할 경로를 지정하고

import bpy
import mathutils

# .blend 파일 로드
bpy.ops.wm.open_mainfile(filepath="test.blend")

camera = bpy.data.objects.get("Camera")
if camera is None:
    raise RuntimeError("Camera not found")

scene = bpy.context.scene

scene.render.image_settings.file_format = 'PNG'

camera_locations = [
    (5.0, -5.0, 3.0),
    (0.0, -7.0, 3.0),
    (-5.0, -5.0, 3.0),
]

for i, loc in enumerate(camera_locations):
    camera.location = mathutils.Vector(loc)
    # Blender 2.80+
    bpy.context.view_layer.update()
    scene.render.filepath = f"frame_{i:03d}.png"
    bpy.ops.render.render(write_still=True)
    print(f"Render {i} complete")

EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
EGL Error (0x3009): EGL_BAD_MATCH: Arguments are inconsistent (for example, a valid context requires buffers not supplied by a valid surface).
Fra:1 Mem:42.72M (Peak 43.80M) | Time:00:00.17 | Syncing Cube
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:00.25 | Syncing Light
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:00.25 | Syncing Camera
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:00.27 | Rendering 1 / 64 samples
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:01.50 | Rendering 26 / 64 samples
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:02.48 | Rendering 51 / 64 samples
Fra:1 Mem:42.75M (Peak 43.80M) | Time:00:03.02 | Rendering 64 / 64 samples
Saved: 'frame_000.png'
Time: 00:03.44 (Saving: 00:00.31)

{'FINISHED'}
Render 0 complete
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.03 | Syncing Cube
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.03 | Syncing Light
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.03 | Syncing Camera
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.06 | Rendering 1 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.66 | Rendering 26 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:01.02 | Rendering 51 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:01.21 | Rendering 64 / 64 samples
Saved: 'frame_001.png'
Time: 00:01.53 (Saving: 00:00.23)

{'FINISHED'}
Render 1 complete
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.00 | Syncing Cube
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.00 | Syncing Light
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.00 | Syncing Camera
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.00 | Rendering 1 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.56 | Rendering 26 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:00.93 | Rendering 51 / 64 samples
Fra:1 Mem:42.75M (Peak 42.75M) | Time:00:01.12 | Rendering 64 / 64 samples
Saved: 'frame_002.png'
Time: 00:01.43 (Saving: 00:00.24)

{'FINISHED'}
Render 2 complete

좌표 문제겠지만 아무튼 렌더가 된다!

저작자표시 (새창열림)

'프로그램 사용 > Blender' 카테고리의 다른 글

bpy built-on module on blender (0)	2026.07.13
blender constraint "track to " (0)	2026.07.13
blender armature ik (각도 제한 등) (0)	2026.07.10
bpy - Blender as a Python module (0)	2026.07.10
blender 텍스쳐 입히고 그리기 (0)	2026.07.09

Posted by 구차니

blender armature ik (각도 제한 등)

사람을 예를 들어 무릎은 앞쪽으로 구부러지지 않는데

그러한 제약조건을 걸어주려고 찾는 중.

스샷은 요즘껀데. 동영상은 옛날꺼. 그럼 변한게 별로 없으려나?

[링크 : https://docs.blender.org/manual/en/latest/animation/constraints/tracking/ik_solver.html]

[링크 : https://m.blog.naver.com/empty_wagon/20162423657]

[링크 : https://kauree.tistory.com/7] 피스톤 리깅

[링크 : https://m.blog.naver.com/nocsurim/222183115415]

+

2026.07.11

pose mode 에서 shift-i 혹은 pose - inverse kinematics - add ik to bone을 해준다.

일단 pose mode로 오면 프로퍼티에 bone이 생기긴 한다.

여기서 하는거랑 차이가 있는진 모르겠다.

[링크 : https://docs.blender.org/manual/en/latest/animation/armatures/posing/editing/inverse_kinematics.html#bpy-ops-pose-ik-add]

+

2026.07.13

chain length를 적용해야 의도한 작동이 나오는 듯.

[링크 : https://www.youtube.com/watch?v=Gp9uNgvt_TU]

저작자표시 (새창열림)

'프로그램 사용 > Blender' 카테고리의 다른 글

blender constraint "track to " (0)	2026.07.13
bpy 설치 + 간단 테스트 (0)	2026.07.12
bpy - Blender as a Python module (0)	2026.07.10
blender 텍스쳐 입히고 그리기 (0)	2026.07.09
blender rigging (0)	2026.07.06

Posted by 구차니

bpy - Blender as a Python module

파이썬용 블렌더 API(공식)

[링크 : https://docs.blender.org/api/current/]

[링크 : https://docs.blender.org/api/current/info_advanced_blender_as_bpy.html]

[링크 : https://pypi.org/project/bpy/]

저작자표시 (새창열림)

'프로그램 사용 > Blender' 카테고리의 다른 글

bpy 설치 + 간단 테스트 (0)	2026.07.12
blender armature ik (각도 제한 등) (0)	2026.07.10
blender 텍스쳐 입히고 그리기 (0)	2026.07.09
blender rigging (0)	2026.07.06
blender 폴리곤 줄이기 (0)	2026.07.06

Posted by 구차니

ubuntu 22.04 / libfreenect2 / ros / 2760p(i5-2520m) 실패

노트북에 expresscard to USB3.0도 안가져왔고. 일단 빌드는 했으니 다음에 가져와서 해봐야지

* 한거

// libfreenect2 for kinect v2
$ sudo apt-get install libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev libva-dev libjpeg-dev libopenni2-dev
$ git clone https://github.com/OpenKinect/libfreenect2.git
$ cd libfreenect2/
$ mkdir build
$ cd build/
$ cmake .. -DENABLE_CUDA=OFF
$ sudo make install
$ sudo ldconfig

// install kinect2 bridge for ros2
$ sudo apt-get install python3-colcon-core python3-colcon-common-extensions python3-colcon-ros
$ sudo apt install libeigen3-dev
$ mkdir -p ~/ros2_ws/src
$ cd ~/ros2_ws/src
$ git clone https://github.com/krepa098/kinect2_ros2.git
$ cd ..
$ source /opt/ros/humble/setup.bash
$ sudo rosdep init
$ rosdep update
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon list
kinect2_bridge src/kinect2_ros2/kinect2_bridge (ros.ament_cmake)
kinect2_calibration src/kinect2_ros2/kinect2_calibration (ros.ament_cmake)
kinect2_registration src/kinect2_ros2/kinect2_registration (ros.ament_cmake)
$ colcon build --symlink-install
Starting >>> kinect2_registration
$ source install/setup.bash
$ ros2 pkg list | grep kinect
kinect2_bridge
kinect2_calibration
kinect2_registration
$ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml

// install rtabmap
$ sudo apt install ros-humble-rtabmap-ros

$ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml
[INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2026-07-11-20-41-52-174164-minimonk-HP-EliteBook-2760p-5964
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinect2_bridge_node-1]: process started with pid [5965]
[INFO] [point_cloud_xyzrgb_node-2]: process started with pid [5967]
[kinect2_bridge_node-1] [INFO] [1783770112.669497149] [kinect2_bridge_node]: parameter:
[kinect2_bridge_node-1]         base_name: kinect2
[kinect2_bridge_node-1]            sensor: default
[kinect2_bridge_node-1]         fps_limit: 30
[kinect2_bridge_node-1]        calib_path: /home/minimonk/ros2_ws/src/kinect2_ros2/kinect2_bridge/data/
[kinect2_bridge_node-1]           use_png: false
[kinect2_bridge_node-1]      jpeg_quality: 90
[kinect2_bridge_node-1]         png_level: 1
[kinect2_bridge_node-1]      depth_method: default
[kinect2_bridge_node-1]      depth_device: -1
[kinect2_bridge_node-1]        reg_method: default
[kinect2_bridge_node-1]        reg_device: -1
[kinect2_bridge_node-1]         max_depth: 12
[kinect2_bridge_node-1]         min_depth: 0.1
[kinect2_bridge_node-1]        queue_size: 5
[kinect2_bridge_node-1]  bilateral_filter: true
[kinect2_bridge_node-1] edge_aware_filter: true
[kinect2_bridge_node-1]        publish_tf: true
[kinect2_bridge_node-1]      base_name_tf: kinect2
[kinect2_bridge_node-1]    worker_threads: 4
[kinect2_bridge_node-1] libva info: VA-API version 1.14.0
[kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so
[kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_14
[kinect2_bridge_node-1] libva error: /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so init failed
[kinect2_bridge_node-1] libva info: va_openDriver() returns 1
[kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so
[kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_10
[kinect2_bridge_node-1] libva info: va_openDriver() returns 0
[kinect2_bridge_node-1] [Error] [VaapiRgbPacketProcessorImpl] vaQueryConfigEntrypoints(display, VAProfileJPEGBaseline, entrypoints, &num_entrypoints): the requested VAProfile is not supported
[kinect2_bridge_node-1] [INFO] [1783770112.809519223] [kinect2_bridge_node]: Kinect2 devices found:
[kinect2_bridge_node-1] [INFO] [1783770112.809575855] [kinect2_bridge_node]:   0: 501441643042 (selected)
[kinect2_bridge_node-1] [INFO] [1783770112.916667344] [kinect2_bridge_node]: starting kinect2
[kinect2_bridge_node-1] [INFO] [1783770113.292294443] [kinect2_bridge_node]: device serial: 501441643042
[kinect2_bridge_node-1] [INFO] [1783770113.292485519] [kinect2_bridge_node]: device firmware: 4.0.3911.0
[kinect2_bridge_node-1] [WARN] [1783770113.594443755] [kinect2_bridge_node]: using sensor defaults for color intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1783770113.594539640] [kinect2_bridge_node]: using sensor defaults for ir intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1783770113.594581612] [kinect2_bridge_node]: using defaults for rotation and translation.
[kinect2_bridge_node-1] [WARN] [1783770113.594619248] [kinect2_bridge_node]: using defaults for depth shift.
[kinect2_bridge_node-1] [INFO] [1783770113.623323777] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1783770113.623425516] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1783770113.667011548] [kinect2_bridge_node]: waiting for clients to connect
[kinect2_bridge_node-1] [INFO] [1783770114.653201749] [kinect2_bridge_node]: client connected. starting device...
[kinect2_bridge_node-1] X Error of failed request:  BadAccess (attempt to access private resource denied)
[kinect2_bridge_node-1]   Major opcode of failed request:  149 (GLX)
[kinect2_bridge_node-1]   Minor opcode of failed request:  5 (X_GLXMakeCurrent)
[kinect2_bridge_node-1]   Serial number of failed request:  179
[kinect2_bridge_node-1]   Current serial number in output stream:  179
[kinect2_bridge_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[kinect2_bridge_node-1]   what():  failed to publish message: cannot publish data, at ./src/rmw_publish.cpp:62, at ./src/rcl/publisher.c:250
[ERROR] [kinect2_bridge_node-1]: process has died [pid 5965, exit code -6, cmd '/home/minimonk/ros2_ws/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node --ros-args -r __node:=kinect2_bridge_node --params-file /tmp/launch_params_1tuxpdc2 --params-file /tmp/launch_params_o70wj41n --params-file /tmp/launch_params_mx2wb0bm --params-file /tmp/launch_params_inj7yjrz --params-file /tmp/launch_params_s8nw_wo7 --params-file /tmp/launch_params_d5_82p0q --params-file /tmp/launch_params_x6_8qj8q --params-file /tmp/launch_params_ganv8ba7 --params-file /tmp/launch_params_agwupcu2 --params-file /tmp/launch_params_d1hxewmf --params-file /tmp/launch_params_7jj5knby --params-file /tmp/launch_params_rx6ige18 --params-file /tmp/launch_params_xyw011zg --params-file /tmp/launch_params_1uetu4cb'].

^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[point_cloud_xyzrgb_node-2] [INFO] [1783770702.367083434] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [point_cloud_xyzrgb_node-2]: process has finished cleanly [pid 5967]

// default 를 cpu로 변경. i5-2520m / intel HD3000 이라 default cuda를 못해서 그런것 같음
$ vi ~/ros2_ws/src/kinect2_ros2/kinect2_bridge/launch/kinect2_bridge_launch.yaml
30         - name: "depth_method"
31           value: "cpu"

$ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml

[INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2026-07-11-20-52-56-290912-minimonk-HP-EliteBook-2760p-6475
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinect2_bridge_node-1]: process started with pid [6476]
[INFO] [point_cloud_xyzrgb_node-2]: process started with pid [6478]
[kinect2_bridge_node-1] [INFO] [1783770776.613633301] [kinect2_bridge_node]: parameter:
[kinect2_bridge_node-1]         base_name: kinect2
[kinect2_bridge_node-1]            sensor: default
[kinect2_bridge_node-1]         fps_limit: 30
[kinect2_bridge_node-1]        calib_path: /home/minimonk/ros2_ws/src/kinect2_ros2/kinect2_bridge/data/
[kinect2_bridge_node-1]           use_png: false
[kinect2_bridge_node-1]      jpeg_quality: 90
[kinect2_bridge_node-1]         png_level: 1
[kinect2_bridge_node-1]      depth_method: cpu
[kinect2_bridge_node-1]      depth_device: -1
[kinect2_bridge_node-1]        reg_method: default
[kinect2_bridge_node-1]        reg_device: -1
[kinect2_bridge_node-1]         max_depth: 12
[kinect2_bridge_node-1]         min_depth: 0.1
[kinect2_bridge_node-1]        queue_size: 5
[kinect2_bridge_node-1]  bilateral_filter: true
[kinect2_bridge_node-1] edge_aware_filter: true
[kinect2_bridge_node-1]        publish_tf: true
[kinect2_bridge_node-1]      base_name_tf: kinect2
[kinect2_bridge_node-1]    worker_threads: 4
[kinect2_bridge_node-1] libva info: VA-API version 1.14.0
[kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so
[kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_14
[kinect2_bridge_node-1] libva error: /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so init failed
[kinect2_bridge_node-1] libva info: va_openDriver() returns 1
[kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so
[kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_10
[kinect2_bridge_node-1] libva info: va_openDriver() returns 0
[kinect2_bridge_node-1] [Error] [VaapiRgbPacketProcessorImpl] vaQueryConfigEntrypoints(display, VAProfileJPEGBaseline, entrypoints, &num_entrypoints): the requested VAProfile is not supported
[kinect2_bridge_node-1] [INFO] [1783770776.630651736] [kinect2_bridge_node]: Kinect2 devices found:
[kinect2_bridge_node-1] [INFO] [1783770776.630722791] [kinect2_bridge_node]:   0: 501441643042 (selected)
[kinect2_bridge_node-1] [INFO] [1783770776.733462241] [kinect2_bridge_node]: starting kinect2
[kinect2_bridge_node-1] [INFO] [1783770777.156867396] [kinect2_bridge_node]: device serial: 501441643042
[kinect2_bridge_node-1] [INFO] [1783770777.156988330] [kinect2_bridge_node]: device firmware: 4.0.3911.0
[kinect2_bridge_node-1] [WARN] [1783770777.428281283] [kinect2_bridge_node]: using sensor defaults for color intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1783770777.428342033] [kinect2_bridge_node]: using sensor defaults for ir intrinsic parameters.
[kinect2_bridge_node-1] [WARN] [1783770777.428357102] [kinect2_bridge_node]: using defaults for rotation and translation.
[kinect2_bridge_node-1] [WARN] [1783770777.428370269] [kinect2_bridge_node]: using defaults for depth shift.
[kinect2_bridge_node-1] [INFO] [1783770777.457480023] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1783770777.457549605] [kinect2_bridge_node]: Using CPU registration method!
[kinect2_bridge_node-1] [INFO] [1783770777.508456495] [kinect2_bridge_node]: waiting for clients to connect
[kinect2_bridge_node-1] [INFO] [1783770778.496139475] [kinect2_bridge_node]: client connected. starting device...
[kinect2_bridge_node-1] [INFO] [1783770781.952362253] [kinect2_bridge_node]: depth processing: ~454.726ms (~2.19912Hz) publishing rate: ~2.99997Hz
[kinect2_bridge_node-1] [INFO] [1783770781.952462142] [kinect2_bridge_node]: color processing: ~13.8091ms (~72.4159Hz) publishing rate: ~11.9999Hz
[kinect2_bridge_node-1] [INFO] [1783770784.961367722] [kinect2_bridge_node]: depth processing: ~1429.33ms (~0.69963Hz) publishing rate: ~2.65869Hz
[kinect2_bridge_node-1] [INFO] [1783770784.961457981] [kinect2_bridge_node]: color processing: ~18.3239ms (~54.5735Hz) publishing rate: ~2.65869Hz
[kinect2_bridge_node-1] [INFO] [1783770787.965423923] [kinect2_bridge_node]: depth processing: ~1607.29ms (~0.622166Hz) publishing rate: ~2.33019Hz
[kinect2_bridge_node-1] [INFO] [1783770787.965502488] [kinect2_bridge_node]: color processing: ~14.5605ms (~68.6788Hz) publishing rate: ~2.33019Hz
[kinect2_bridge_node-1] [INFO] [1783770790.970785392] [kinect2_bridge_node]: depth processing: ~1747ms (~0.572411Hz) publishing rate: ~1.99643Hz
[kinect2_bridge_node-1] [INFO] [1783770790.971731954] [kinect2_bridge_node]: color processing: ~17.1032ms (~58.4687Hz) publishing rate: ~1.99643Hz
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[point_cloud_xyzrgb_node-2] [INFO] [1783770792.809586338] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[kinect2_bridge_node-1] [INFO] [1783770792.811250097] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [point_cloud_xyzrgb_node-2]: process has finished cleanly [pid 6478]
[INFO] [kinect2_bridge_node-1]: process has finished cleanly [pid 6476]

$ ros2 topic list
/kinect2/qhd/camera_info
/kinect2/qhd/image_color_rect
/kinect2/qhd/image_depth_rect
/kinect2/qhd/points
/parameter_events
/rosout

$ ros2 topic list
/kinect2/hd/camera_info
/kinect2/hd/image_color
/kinect2/hd/image_color/compressed
/kinect2/hd/image_color_rect
/kinect2/hd/image_color_rect/compressed
/kinect2/hd/image_depth_rect
/kinect2/hd/image_depth_rect/compressed
/kinect2/hd/image_mono
/kinect2/hd/image_mono/compressed
/kinect2/hd/image_mono_rect
/kinect2/hd/image_mono_rect/compressed
/kinect2/qhd/camera_info
/kinect2/qhd/image_color
/kinect2/qhd/image_color/compressed
/kinect2/qhd/image_color_rect
/kinect2/qhd/image_color_rect/compressed
/kinect2/qhd/image_depth_rect
/kinect2/qhd/image_depth_rect/compressed
/kinect2/qhd/image_mono
/kinect2/qhd/image_mono/compressed
/kinect2/qhd/image_mono_rect
/kinect2/qhd/image_mono_rect/compressed
/kinect2/qhd/points
/kinect2/sd/camera_info
/kinect2/sd/image_color_rect
/kinect2/sd/image_color_rect/compressed
/kinect2/sd/image_depth
/kinect2/sd/image_depth/compressed
/kinect2/sd/image_depth_rect
/kinect2/sd/image_depth_rect/compressed
/kinect2/sd/image_ir
/kinect2/sd/image_ir/compressed
/kinect2/sd/image_ir_rect
/kinect2/sd/image_ir_rect/compressed
/parameter_events
/rosout
/tf_static

$ ros2 run tf2_ros tf2_echo kinect2_link kinect2_rgb_optical_frame
[INFO] [1783772121.176615605] [tf2_echo]: Waiting for transform kinect2_link ->  kinect2_rgb_optical_frame: Invalid frame ID "kinect2_link" passed to canTransform argument target_frame - frame does not exist
At time 0.0
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion (xyzw) [0.000, 0.000, 0.000, 1.000]
- Rotation: in RPY (radian) [0.000, -0.000, 0.000]
- Rotation: in RPY (degree) [0.000, -0.000, 0.000]
- Matrix:
  1.000  0.000  0.000  0.000
  0.000  1.000  0.000  0.000
  0.000  0.000  1.000  0.000
  0.000  0.000  0.000  1.000

$ ros2 topic hz /kinect2/sd/image_depth
WARNING: topic [/kinect2/sd/image_depth] does not appear to be published yet
average rate: 1.358
min: 0.555s max: 1.017s std dev: 0.20108s window: 3
average rate: 1.535
min: 0.472s max: 1.017s std dev: 0.19011s window: 5
average rate: 1.630
min: 0.472s max: 1.017s std dev: 0.17155s window: 7
average rate: 1.681
min: 0.472s max: 1.017s std dev: 0.15538s window: 9

$ ros2 topic echo /kinect2/sd/image_depth
header:
  stamp:
    sec: 1783772639
    nanosec: 100324833
  frame_id: kinect2_ir_optical_frame
height: 424
width: 512
encoding: 16UC1
is_bigendian: 0
step: 1024
data:
- 0
- 0
- 0
- 0
- 59
- 11
- 166
- 35
- 160
- 8
- 0
- 0
- 221
- 8
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 63
- 36
- 13
- 9
- 230
- 36
- 85
- 37
- 223
- 36
- 43
- 10
- 176
- 36
- 164
- 36
- 231
- 11
- 65
- 37
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 151
- 9
- 253
- 37
- 233
- 37
- 119
- 9
- 54
- 11
- 0
- 0
- 0
- 0
- 37
- 11
- 118
- 38
- 0
- 0
- 139
- 38
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 149
- 11
- 0
- 0
- 0
- 0
- 126
- 10
- 0
- 0
- 0
- 0
- 0
- 0
- 157
- 11
- 118
- 38
- 0
- 0
- 0
- 0
- 0
- 0
- 52
- 11
- 36
- 40
- 133
- 40
- 81
- 11
- 0
- 0
- 184
- 11
- 0
- 0
- 0
- 0
- 171
- 11
- '...'
---

$ ros2 topic echo /tf_static --once
transforms:
- header:
    stamp:
      sec: 1783772796
      nanosec: 755398531
    frame_id: kinect2_link
  child_frame_id: kinect2_rgb_optical_frame
  transform:
    translation:
      x: 0.0
      y: 0.0
      z: 0.0
    rotation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
- header:
    stamp:
      sec: 1783772796
      nanosec: 744797076
    frame_id: kinect2_rgb_optical_frame
  child_frame_id: kinect2_ir_optical_frame
  transform:
    translation:
      x: 0.0
      y: 0.0
      z: 0.0
    rotation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
---

$ ros2 topic hz /kinect2/qhd/points
average rate: 0.092
min: 10.424s max: 11.263s std dev: 0.41953s window: 2
average rate: 0.127
min: 1.987s max: 11.263s std dev: 4.18908s window: 3
average rate: 0.149
min: 1.987s max: 11.263s std dev: 4.16241s window: 4
average rate: 0.148
min: 1.987s max: 11.263s std dev: 3.72348s window: 5

display - Add

rviz+default_plugins 에서 추가

그리고 topic 연결해주면 되는데

솔찍히 두번째 탭인 by topic이 더 편하게 고를수 있다.

* 할거

아래부턴 먼가 잘 안되서 일단 나중에..

rviz2
ros2 run tf2_tools view_frames
ros2 run tf2_ros tf2_echo kinect2_link kinect2_rgb_optical_frame

ros2 launch rtabmap_launch rtabmap.launch.py \
    rgb_topic:=/kinect2/color/image \
    depth_topic:=/kinect2/depth/image \
    camera_info_topic:=/kinect2/color/camera_info

저작자표시 (새창열림)

'프로그램 사용 > ros' 카테고리의 다른 글

pinkwink 님 ros 관련글 (0)	2026.07.15
ros kinect slam (0)	2026.07.08
ros2 with kinect v2 시도... 3회차 (0)	2025.05.22
ros2 with kinect v2 시도... 2회차 (0)	2025.05.22
ros2 with kinect v2 일단 실패 (0)	2025.05.21

Posted by 구차니

구차니의 잡동사니 모음

'프로그램 사용'에 해당되는 글 2645건

blender bpy metric

'프로그램 사용 > Blender' 카테고리의 다른 글

blender render / sample

'프로그램 사용 > Blender' 카테고리의 다른 글

blender animation (keyframe)

'프로그램 사용 > Blender' 카테고리의 다른 글

bpy built-on module on blender

'프로그램 사용 > Blender' 카테고리의 다른 글

blender constraint "track to "

'프로그램 사용 > Blender' 카테고리의 다른 글

openSCAD + claude.ai = 파라메트릭 모델링

'프로그램 사용 > openSCAD' 카테고리의 다른 글

bpy 설치 + 간단 테스트

'프로그램 사용 > Blender' 카테고리의 다른 글

blender armature ik (각도 제한 등)

'프로그램 사용 > Blender' 카테고리의 다른 글

bpy - Blender as a Python module

'프로그램 사용 > Blender' 카테고리의 다른 글

ubuntu 22.04 / libfreenect2 / ros / 2760p(i5-2520m) 실패

'프로그램 사용 > ros' 카테고리의 다른 글

카테고리

공지사항

태그목록

최근에 올라온 글

최근에 달린 댓글

티스토리툴바