{"id":7618,"date":"2025-09-30T18:48:32","date_gmt":"2025-09-30T18:48:32","guid":{"rendered":"https:\/\/pokecon.jp\/job\/?p=7618"},"modified":"2025-09-30T18:48:32","modified_gmt":"2025-09-30T18:48:32","slug":"jetson-x-realsense-%e3%81%a7%e7%89%a9%e4%bd%93%e6%a4%9c%e7%9f%a5-ros-2-deepstream-%e3%81%ae%e5%b0%8e%e5%85%a5","status":"publish","type":"post","link":"https:\/\/pokecon.jp\/job\/7618\/","title":{"rendered":"Jetson \u00d7 RealSense \u3067\u7269\u4f53\u691c\u77e5: ROS 2 \/ DeepStream \u306e\u5c0e\u5165"},"content":{"rendered":"\n<\/p>\n<div>\n<h2>\u306f\u3058\u3081\u306b<\/h2>\n<p>\u3053\u3093\u306b\u3061\u306f\u3002\u30b0\u30eb\u30fc\u30d7\u7814\u7a76\u958b\u767a\u672c\u90e8\u3001AI\u7814\u7a76\u958b\u767a\u5ba4\u306eY.T\u3067\u3059\u3002<br \/>\u30a8\u30c3\u30b8GPU\u3001\u826f\u3044\u97ff\u304d\u3067\u3059\u306d\u3002<br \/>\u3053\u306e\u8a18\u4e8b\u306f\u3001Jetson \u3078\u306e <strong>DeepStream 7.1<\/strong> \u3092\u5c0e\u5165\u3068\u3001Intel RealSense \u306e\u63a5\u7d9a\u65b9\u6cd5\u306b\u3064\u3044\u3066\u5099\u5fd8\u9332\u7684\u306b\u307e\u3068\u3081\u305f\u3082\u306e\u3067\u3059\u3002\u3068\u308a\u3042\u3048\u305a\u4f55\u304b\u753b\u9762\u306b\u898b\u3048\u308b\u307e\u3067\uff11\u304b\u3089\u3084\u308b\u3068\u305d\u308c\u306a\u308a\u306b\u624b\u9593\u304c\u304b\u304b\u3063\u305f\u306e\u3067\u3001\u4e00\u65e6\u307e\u3068\u3081\u3066\u304a\u3053\u3046\u3068\u3044\u3046\u66f8\u3044\u3066\u3044\u307e\u3059\u3002<\/p>\n<h2>\u4eca\u56de\u306e\u76ee\u7684<\/h2>\n<ul>\n<li>\u524d\u63d0: Jetson (Orin Nano Super, JetPack\u00a06.x \u76f8\u5f53)\u30fbRealSense D435i\u30fbROS\u00a02 Humble<\/li>\n<li>\u4eca\u56de\u306e\u76ee\u7684: RealSense RGB \u2192 <code>deepstream-app<\/code> \u2192 \u4eba\/\u8eca\/\u6a19\u8b58\/\u4e8c\u8f2a\u306e4\u30af\u30e9\u30b9\u691c\u51fa \u2192 \u753b\u9762\u8868\u793a<\/li>\n<\/ul>\n<h2>\u74b0\u5883<\/h2>\n<ul>\n<li>JetPack 6.x (Ubuntu 22.04 aarch64)<\/li>\n<li>DeepStream 7.1 (Jetson \u7248)<\/li>\n<li>Intel RealSense D435i<\/li>\n<li>ROS\u00a02 Humble<\/li>\n<\/ul>\n<h2>1) \u524d\u63d0\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/h2>\n<h3>ROS\u00a02 Humble<\/h3>\n<p>\u3053\u3061\u3089\u3092\u53c2\u8003\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<br \/><a target=\"_blank\" title=\"ROS 2 Documentation: Humble Installation Ubuntu (deb packages)\" href=\"https:\/\/docs.ros.org\/en\/humble\/Installation\/Ubuntu-Install-Debs.html\">ROS 2 Documentation: Humble Installation Ubuntu (deb packages)<\/a><br \/>\u81ea\u5206\u306e\u624b\u9806\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u5f62\u3067\u3059\u3002<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"Bash\">sudo apt install -y locales software-properties-common curl&#13;\nsudo locale-gen en_US en_US.UTF-8 &amp;&amp; sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8&#13;\nsource \/etc\/default\/locale || true&#13;\n&#13;\n# ROS 2 APT\u30bd\u30fc\u30b9\u6307\u5b9a&#13;\nexport ROS_APT_SOURCE_VERSION=$(curl -s https:\/\/api.github.com\/repos\/ros-infrastructure\/ros-apt-source\/releases\/latest | grep -F \"tag_name\" | awk -F\\\" '{print $4}')&#13;\ncurl -L -o \/tmp\/ros2-apt-source.deb \"https:\/\/github.com\/ros-infrastructure\/ros-apt-source\/releases\/download\/${ROS_APT_SOURCE_VERSION}\/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. \/etc\/os-release &amp;&amp; echo $VERSION_CODENAME)_all.deb\"&#13;\nsudo dpkg -i \/tmp\/ros2-apt-source.deb&#13;\n&#13;\nsudo apt update&#13;\nsudo apt install -y ros-humble-desktop python3-rosdep&#13;\nsource \/opt\/ros\/humble\/setup.bash&#13;\n&#13;\n# \u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3092\u4f5c\u6210\u3057\u3066\u304a\u304f&#13;\nmkdir -p ~\/ros2_ws\/src&#13;\ncd ~\/ros2_ws&#13;\nrosdep init || true&#13;\nrosdep update&#13;\n<\/pre>\n<h3>DeepStream 7.1<\/h3>\n<p><em>SDK Manager \u3067\u5c0e\u5165\u6e08\u307f\u306a\u3089\u672c\u7ae0\u306f\u30b9\u30ad\u30c3\u30d7\u53ef\u3002<\/em> \u3053\u3053\u3067\u306f <strong>\u30a2\u30fc\u30ab\u30a4\u30d6\u7248\uff08tbz2\uff09<\/strong> \u306e\u624b\u52d5\u5c0e\u5165\u3092\u8a18\u8f09\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"Bash\"># \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5c55\u958b\uff08\u4f8b\uff1aDownloads \u306b\u7f6e\u3044\u305f tbz2 \u3092 \/opt \u3078\uff09&#13;\nsudo mkdir -p \/opt\/nvidia\/deepstream&#13;\ncd ~\/Downloads&#13;\nsudo tar -xvf deepstream_sdk_v7.1.0_jetson.tbz2 -C \/opt\/nvidia\/deepstream\/&#13;\n&#13;\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30e9\u5b9f\u884c&#13;\ncd \/opt\/nvidia\/deepstream\/deepstream-7.1&#13;\nsudo .\/install.sh&#13;\nsudo ldconfig&#13;\n&#13;\n# \u74b0\u5883\u5909\u6570\u3092\u8a2d\u5b9a\u3057\u3066\u304a\u304f&#13;\necho 'export GST_PLUGIN_PATH=\/opt\/nvidia\/deepstream\/deepstream-7.1\/lib\/gst-plugins:$GST_PLUGIN_PATH' | sudo tee -a \/etc\/environment&#13;\necho 'export LD_LIBRARY_PATH=\/opt\/nvidia\/deepstream\/deepstream-7.1\/lib:$LD_LIBRARY_PATH' | sudo tee -a \/etc\/environment&#13;\nsource \/etc\/environment&#13;\nexport GST_PLUGIN_PATH=\/opt\/nvidia\/deepstream\/deepstream-7.1\/lib\/gst-plugins:$GST_PLUGIN_PATH&#13;\nexport LD_LIBRARY_PATH=\/opt\/nvidia\/deepstream\/deepstream-7.1\/lib:$LD_LIBRARY_PATH<\/pre>\n<h2>2) RealSense\uff08librealsense\uff09<\/h2>\n<p>realsense-viewer\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3057\u3066\u304a\u304f\u3002\u30bf\u30fc\u30df\u30ca\u30eb\u304b\u3089realsense-viewer\u3092\u53e9\u304f\u3068GUI\u304c\u8d77\u52d5\u3057\u3001GUI\u3092\u64cd\u4f5c\u3059\u308b\u3053\u3068\u3067\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306b\u30ab\u30e1\u30e9\u306e\u6620\u50cf\u304c\u6d41\u308c\u308b\u3088\u3046\u306b\u306a\u308b\u3002\u4eca\u56de\u306f\u4f7f\u308f\u306a\u3044\u304cDepth\u3082\u51fa\u305b\u308b\u3002<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"Bash\">sudo apt update &amp;&amp; sudo apt install -y git cmake build-essential libssl-dev \\&#13;\n  libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev udev&#13;\ngit clone --depth=1 https:\/\/github.com\/IntelRealSense\/librealsense.git&#13;\n&#13;\ncd librealsense &amp;&amp; mkdir build &amp;&amp; cd build&#13;\ncmake .. -DFORCE_RSUSB_BACKEND=ON -DBUILD_WITH_CUDA=ON -DBUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Release&#13;\nmake -j$(nproc)&#13;\nsudo make install&#13;\n&#13;\nsudo cp ..\/config\/99-realsense-libusb.rules \/etc\/udev\/rules.d\/&#13;\nsudo udevadm control --reload-rules &amp;&amp; sudo udevadm trigger&#13;\n&#13;\nrealsense-viewer   # GUI\u304c\u8d77\u52d5\u3059\u308b\u3002RGB \u304c\u6620\u308c\u3070OK&#13;\n<\/pre>\n<h2>3)DeepStream\u306e\u30b5\u30f3\u30d7\u30eb\u5b9f\u884c<\/h2>\n<p>\u30b5\u30f3\u30d7\u30ebconfig\u3092\u30e6\u30fc\u30b6\u9818\u57df\u3078\u8907\u88fd\u3057\u3066\u7de8\u96c6\u3059\u308b\u3068\u6271\u3044\u3084\u3059\u3044\u3002\uff08\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u5185\u306e\u30d5\u30a1\u30a4\u30eb\u306e\u53c2\u7167\u306f\u76f8\u5bfe\u30d1\u30b9\u306a\u306e\u3067\u305d\u3053\u306f\u6ce8\u610f\u3002\uff09\u4eca\u56de\u306fsource2_1080p_dec_infer-resnet_demux_int8.txt\u3068\u3044\u3046\u30d5\u30a1\u30a4\u30eb\u540d\u306econfig\u3067\u52d5\u304b\u3059\u3002\u30b5\u30f3\u30d7\u30eb\u52d5\u753b\u3082\u30d1\u30c3\u30b1\u30fc\u30b8\u306b\u542b\u307e\u308c\u3066\u3044\u308b\u3002<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"Bash\">mkdir -p ~\/ds_cfg&#13;\ncd \/opt\/nvidia\/deepstream\/deepstream-7.1\/samples\/configs\/deepstream-app&#13;\ncp source2_1080p_dec_infer-resnet_demux_int8.txt ~\/ds_cfg\/&#13;\ncp -a ..\/..\/models\/Primary_Detector ~\/ds_cfg\/  # \u53c2\u7167\u3057\u3084\u3059\u3044\u5834\u6240\u306b\u7f6e\u304f\uff08\u4efb\u610f\uff09&#13;\n&#13;\n# \u8868\u793a\u3092\u6709\u52b9\u5316\uff08sink0=EGL\uff09\u3068 mux \u30d0\u30c3\u30c1\u3092 2 \u306b\u7d71\u4e00\u3001URI \u3092\u7d76\u5bfe\u5316&#13;\nAPP=~\/ds_cfg\/source2_1080p_dec_infer-resnet_demux_int8.txt&#13;\nxhost +local: 2&gt;\/dev\/null || true&#13;\nexport DISPLAY=${DISPLAY:-:0}&#13;\nsed -i '\/^\\[sink0\\]\/,\/^\\[\/{s\/^type=.*\/type=2\/; s\/^enable=.*\/enable=1\/; s\/^sync=.*\/sync=0\/}' \"$APP\"&#13;\nsed -i '\/^\\[sink1\\]\/,\/^\\[\/{s\/^enable=.*\/enable=0\/}' \"$APP\"&#13;\nsed -i '\/^\\[sink2\\]\/,\/^\\[\/{s\/^enable=.*\/enable=0\/}' \"$APP\"&#13;\nsed -i '\/^\\[streammux\\]\/,\/^\\[\/{s\/^batch-size=.*\/batch-size=2\/}' \"$APP\"&#13;\nsed -i 's#uri=file:\/\/\\.\/\\.\/streams\/#uri=file:\/\/\/opt\/nvidia\/deepstream\/deepstream-7.1\/samples\/streams\/#g' \"$APP\"&#13;\n<\/pre>\n<h3>3-1) TensorRT \u30a8\u30f3\u30b8\u30f3\u4f5c\u6210<\/h3>\n<p>\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u521d\u56de\u5b9f\u884c\u6642\u306b\u4f5c\u6210\u3055\u308c\u3066\u30ad\u30e3\u30c3\u30b7\u30e5\u306b\u4fdd\u5b58\u3055\u308c\u3001\u6b21\u56de\u4ee5\u964d\u306f\u30ad\u30e3\u30c3\u30b7\u30e5\u3092\u53c2\u7167\u3057\u3066\u9ad8\u901f\u306b\u8d77\u52d5\u3059\u308b\u3002\u3002\u3002\u306f\u305a\u3067\u306f\u3042\u308b\u304c\u3001\u3046\u307e\u304f\u30ad\u30e3\u30c3\u30b7\u30e5\u3092\u4fdd\u5b58\u3067\u304d\u306a\u3044\u3001\u8aad\u3081\u306a\u3044\u3001\u3068\u3044\u3046\u72b6\u6cc1\u306a\u3089\u660e\u793a\u7684\u306b\u4f5c\u3063\u3066\u3057\u307e\u3046\u306e\u304c\u65e9\u3044\u3067\u3059\u3002<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"Bash\">mkdir -p ~\/.cache\/ds_engines&#13;\n\/usr\/src\/tensorrt\/bin\/trtexec \\&#13;\n  --onnx=\/opt\/nvidia\/deepstream\/deepstream-7.1\/samples\/models\/Primary_Detector\/resnet18_trafficcamnet_pruned.onnx \\&#13;\n  --int8 --calib=\/opt\/nvidia\/deepstream\/deepstream-7.1\/samples\/models\/Primary_Detector\/cal_trt.bin \\&#13;\n  --minShapes=\"input_1:0\":1x3x544x960 --optShapes=\"input_1:0\":2x3x544x960 --maxShapes=\"input_1:0\":2x3x544x960 \\&#13;\n  --memPoolSize=workspace:2048M \\&#13;\n  --saveEngine=$HOME\/.cache\/ds_engines\/primary_b2_gpu0_int8.engine<\/pre>\n<h3>3-2) P\u2011GIE\u306econfig\u3092\u7de8\u96c6<\/h3>\n<p><code>~\/ds_cfg\/config_infer_primary.txt<\/code> \u3092\u65b0\u898f\u4f5c\u6210\u3057\u3001\u30b7\u30f3\u30d7\u30eb\u306b\u5fc5\u8981\u306a\u9805\u76ee\u3060\u3051\u66f8\u304f\u3002<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"ini\">[property]&#13;\ngpu-id=0&#13;\nnet-scale-factor=0.0039215697906911373&#13;\noffsets=123.0;117.0;104.0&#13;\nmodel-engine-file=%HOME%\/.cache\/ds_engines\/primary_b2_gpu0_int8.engine&#13;\nonnx-file=\/opt\/nvidia\/deepstream\/deepstream-7.1\/samples\/models\/Primary_Detector\/resnet18_trafficcamnet_pruned.onnx&#13;\n&#13;\nlabelfile-path=\/opt\/nvidia\/deepstream\/deepstream-7.1\/samples\/models\/Primary_Detector\/labels.txt&#13;\nint8-calib-file=\/opt\/nvidia\/deepstream\/deepstream-7.1\/samples\/models\/Primary_Detector\/cal_trt.bin&#13;\nnetwork-mode=1&#13;\nbatch-size=2&#13;\n&#13;\ncustom-lib-path=\/opt\/nvidia\/deepstream\/deepstream-7.1\/lib\/libnvds_infercustomparser.so&#13;\nparse-bbox-func-name=NvDsInferParseCustomResnet&#13;\noutput-blob-names=output_cov\/Sigmoid;output_bbox\/BiasAdd&#13;\nnum-detected-classes=4&#13;\ngie-unique-id=1&#13;\n&#13;\n[class-attrs-all]&#13;\npre-cluster-threshold=0.20&#13;\nnms-iou-threshold=0.5&#13;\ncluster-mode=2&#13;\ntopk=200<\/pre>\n<p><strong>\u6ce8\u610f<\/strong>\uff1a<code>model-engine-file<\/code>\u306e\u53c2\u7167\u306f\u3088\u304f\u78ba\u8a8d\u3059\u308b\u3053\u3068<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"Bash\">sed -i 's#^model-engine-file=.*#model-engine-file=\"\"$HOME\"\"\/.cache\/ds_engines\/primary_b2_gpu0_int8.engine#' ~\/ds_cfg\/config_infer_primary.txt<\/pre>\n<p>\u30a2\u30d7\u30ea\u5074config\uff08<code>$APP<\/code>\uff09\u3067 P\u2011GIE \u3092\u3053\u306e\u30d5\u30a1\u30a4\u30eb\u306b\u5dee\u3057\u66ff\u3048\u308b\u3002<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"Bash\">sed -i \"s#^config-file=.\/dstest1_pgie_config.txt#config-file=$HOME\/ds_cfg\/config_infer_primary.txt#\" \"$APP\"<\/pre>\n<h3>3-3) \u5b9f\u884c<\/h3>\n<p>engine\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u6e08\u307f\u306a\u306e\u3067\u9ad8\u901f\u306b\u8d77\u52d5\u3059\u308b\u306f\u305a\u3002\u8d77\u52d5\u306b\u6570\u5206\u4ee5\u4e0a\u304b\u304b\u308b\u3088\u3046\u306a\u3089TensorRT\u30a8\u30f3\u30b8\u30f3\u3092\u518d\u4f5c\u6210\u3057\u3066\u3044\u308b\u306f\u305a\u3067\u3001cache\u3092\u53c2\u7167\u3067\u304d\u3066\u3044\u306a\u3044\u3002\u5358\u7d14\u306b\u30d1\u30b9\u304c\u9055\u3046\u30b1\u30fc\u30b9\u3082\u3042\u308b\u304c\u3001\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306e\u8a18\u8ff0\u306e\u4e0d\u6574\u5408\u306e\u5834\u5408\u3082\u3042\u308b\u3002\u4ee5\u4e0b\u306b\u52d5\u753b\u306e\u3088\u3046\u306b\u691c\u77e5\u30dc\u30c3\u30af\u30b9\u304c\u51fa\u3066\u3053\u306a\u3044\u30b1\u30fc\u30b9\u3067\u306f\u3001\u30e2\u30c7\u30eb\u304c\u9055\u3046\u304b\u3001config_infer_primary.txt\u306e\u95be\u5024\u306e\u554f\u984c\u306e\u5834\u5408\u3082\u3042\u308a\u307e\u3059\u3002<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"Bash\">\/opt\/nvidia\/deepstream\/deepstream-7.1\/bin\/deepstream-app -c \"$APP\"<\/pre>\n<h2>4) ROS\u00a02 \u3067RealSense\u3092\u52d5\u304b\u3059\uff08\u4efb\u610f\uff09<\/h2>\n<p>RealSense \u306e ROS 2 \u30ce\u30fc\u30c9\u3067\u8efd\u91cf\u306b RGB \u3092\u914d\u4fe1\u3057\u3064\u3064\u53ef\u8996\u5316\u3059\u308b\u4f8b\u3002\u81ea\u5206\u306f\u5341\u5206\u306aFPS\u3092\u5f97\u308b\u305f\u3081\u306bROS2\u3092\u5c0e\u5165\u3057\u307e\u3057\u305f\u3002<br \/>\u3061\u306a\u307f\u306b\u3001GUI\u304c\u8d77\u52d5\u3057\u305f\u3089\u3001GUI\u4e0a\u3067\u898b\u305f\u3044\u30c8\u30d4\u30c3\u30af\u3092\u9078\u629e\u3057\u306a\u3044\u3068\u753b\u9762\u306f\u771f\u3063\u9ed2\u3067\u3059\u3002\u305d\u3093\u306a\u4e8b\u3067\u56f0\u308b\u4eba\u306f\u3042\u307e\u308a\u3044\u306a\u3044\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u304c\u5ff5\u306e\u70ba\uff08\u4e00\u6557\uff09\u3002<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"Bash\">ROS_DISTRO=humble&#13;\nsource \/opt\/ros\/$ROS_DISTRO\/setup.bash&#13;\n. ~\/ros2_ws\/install\/setup.bash&#13;\nros2 run realsense2_camera realsense2_camera_node --ros-args \\&#13;\n  -p enable_color:=true -p enable_depth:=false -p enable_infra1:=false -p enable_infra2:=false \\&#13;\n  -p enable_gyro:=false -p enable_accel:=false \\&#13;\n  -p rgb_camera.color_profile:=\"424x240x15\" \\&#13;\n  -p rgb_camera.frames_queue_size:=2 -p color_qos:=SENSOR_DATA -p initial_reset:=true&#13;\n&#13;\n# \u53ef\u8996\u5316\uff08GUI\u304c\u8d77\u52d5\u3002\uff09&#13;\nros2 run rqt_image_view rqt_image_view&#13;\n<\/pre>\n<h2>5) \u4eca\u56de\u306e\u30cf\u30de\u308a\u3069\u3053\u308d<\/h2>\n<p>DeepStream \u304c\u300c\u52d5\u3044\u3066\u308b\u3063\u307d\u3044\u306e\u306b\u51fa\u306a\u3044\u300d\u3068\u304d\u3001\u7d50\u5c40\u3088\u304f\u30cf\u30de\u308b\u306e\u306f\u3053\u306e\u3042\u305f\u308a\u3067\u3059\u3002\u53c2\u8003\u306b\u306a\u308c\u3070\u3002<\/p>\n<h3>\u30a8\u30f3\u30b8\u30f3\uff08.engine\uff09\u306e\u7f6e\u304d\u5834\u6240<\/h3>\n<p>\u601d\u3063\u305f\u30d5\u30a1\u30a4\u30eb\u3092\u53c2\u7167\u3067\u304d\u3066\u3044\u306a\u3044\u306e\u306f\u3088\u304f\u3084\u3089\u304b\u3057\u307e\u3059\u306d\u3002\u4f8b\u3048\u3070\u3001\u65e2\u5b9a\u3067 <code>\/opt\/...<\/code> \u306b\u5410\u3053\u3046\u3068\u3057\u3066 <strong>\u66f8\u304d\u8fbc\u3081\u306a\u3044<\/strong> \u30d1\u30bf\u30fc\u30f3\u306a\u3069\u3001\u3001\u3001<br \/>\u30e6\u30fc\u30b6\u9818\u57df\u306e\u308f\u304b\u308a\u3084\u3059\u3044\u3068\u3053\u308d\u306b\u81ea\u5206\u3067\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u4f5c\u3063\u3066\u3061\u3083\u3093\u3068\u8a2d\u5b9a\u3059\u308b\u306e\u304c\u5b89\u5b9a\u3067\u3059\u306d\u3002\uff08\u4f8b\uff1a<code>~\/.cache\/ds_engines\/primary_b2_gpu0_int8.engine<\/code>\uff09\u3002\u4f55\u53c2\u7167\u3057\u3066\u308b\u304b\u308f\u304b\u3089\u306a\u3044\u306a\u3089\u3070\u3001\u3044\u3063\u305f\u3093\u6d88\u3057\u3066\u4f5c\u308a\u76f4\u3059\u306e\u304c\u624b\u3063\u53d6\u308a\u65e9\u3044\u3067\u3059\u3002<\/p>\n<h3>TensorRT \u306e\u4e16\u4ee3\u304c\u5408\u3063\u3066\u306a\u3044<\/h3>\n<p>\u5225\u74b0\u5883\u304b\u3089\u6301\u3061\u8fbc\u3093\u3060 .engine \u3092\u305d\u306e\u307e\u307e\u4f7f\u3063\u305f\u3068\u304d\u306b\u8d77\u304d\u304c\u3061\u3067\u3059\u306d\u3002TensorRT \u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u9055\u3044\u3067\u30ed\u30fc\u30c9\u76f4\u5f8c\u306b\u843d\u3061\u305f\u308a\u3001\u63a8\u8ad6\u304c\u59cb\u307e\u3089\u306a\u3044\u306a\u3069\u3002<br \/>\u89e3\u6c7a\u7b56\u306f\u30b7\u30f3\u30d7\u30eb\u3001<strong>\u73fe\u74b0\u5883\u3067\u518d\u751f\u6210<\/strong>\u3067\u3059\u3002\u518d\u30d3\u30eb\u30c9\u3057\u3066\u30b3\u30fc\u30d2\u30fc\u3067\u3082\u98f2\u3093\u3067\u3044\u307e\u3057\u3087\u3046\u3002<\/p>\n<h3>batch \u304c\u565b\u307f\u5408\u3063\u3066\u306a\u3044<\/h3>\n<ul>\n<li><code>streammux<\/code> \u306e <code>batch-size<\/code> \u3068 P-GIE \u306e <code>batch-size<\/code> \u304c<strong>\u540c\u3058<\/strong>\u304b\u78ba\u8a8d\u3002<\/li>\n<li><strong>\u30a8\u30f3\u30b8\u30f3\u306f\u4ed6\u306ebatch\u8a2d\u5b9a\u3067\u4f7f\u3048\u306a\u3044<\/strong>\u306e\u3067\u3001\u5024\u3092\u5909\u3048\u305f\u3089\u30a8\u30f3\u30b8\u30f3\u3082\u4f5c\u308a\u76f4\u3057\u3002<\/li>\n<\/ul>\n<h3>\u30d1\u30fc\u30b5\u3068\u51fa\u529b\u540d\u304c\u30e2\u30c7\u30eb\u306b\u5408\u3063\u3066\u306a\u3044<\/h3>\n<p>\u63a8\u8ad6\u306f\u56de\u3063\u3066\u308b\u306e\u306b\u691c\u51fa\u30bc\u30ed\u3001\u306e\u30b1\u30fc\u30b9\u3067\u3088\u304f\u3042\u30ea\u30de\u30b9\u3002<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"none\">parse-bbox-func-name=NvDsInferParseCustomResnet&#13;\noutput-blob-names=output_cov\/Sigmoid;output_bbox\/BiasAdd<\/pre>\n<p>ResNet10\uff08dstest1 \u7cfb\uff09\u306f\u4e0a\u8a18\u3067\u78ba\u8a8d\u3002BatchedNMS\/TLT \u7cfb\u3092\u6df7\u305c\u308b\u3068\u51fa\u529b\u6570\u304c\u5408\u308f\u306a\u304f\u3066\u6c88\u9ed9\u3057\u307e\u3059\u3002<\/p>\n<h3>\u5b9f\u306f OSD \/ sink \u3067\u6d88\u3057\u3066\u308b<\/h3>\n<p>\u30ed\u30b0\u3067\u306f\u691c\u51fa\u30ab\u30a6\u30f3\u30c8\u304c\u5897\u3048\u3066\u308b\u306e\u306b\u753b\u9762\u306f\u7121\u3001\u3068\u3044\u3046\u6642\u306f\u3053\u306e\u8fba\u308a\u3092\u7591\u3044\u307e\u3057\u3087\u3046\u3002<\/p>\n<ul>\n<li><code>[osd]<\/code> \u304c <code>enable=1 display-bbox=1 display-text=1<\/code> \u306b\u306a\u3063\u3066\u308b\uff1f<\/li>\n<li><code>[sink0]<\/code> \u304c <code>nveglglessink<\/code> \u306a\u3069<strong>\u8868\u793a\u7cfb<\/strong>\u306b\u306a\u3063\u3066\u308b\uff1f\uff08<code>fakesink<\/code> \u306f\u898b\u3048\u307e\u305b\u3093\uff09<\/li>\n<\/ul>\n<h3>\u95be\u5024\u304c\u9ad8\u3059\u304e\u308b<\/h3>\n<p>\u4e00\u6642\u7684\u306b\u601d\u3044\u5207\u3063\u3066\u4e0b\u3052\u3066\u5b9f\u884c\u3057\u3066\u307f\u308b\u3068\u308f\u304b\u308a\u307e\u3059\u3002\u6697\u3044\/\u5c0f\u3055\u3044\u88ab\u5199\u4f53\u306f\u7279\u306b\u6ce8\u610f<\/p>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"Bash\">sed -i 's\/^pre-cluster-threshold=.*\/pre-cluster-threshold=0.15\/' ~\/ds_cfg\/config_infer_primary.txt<\/pre>\n<h2>\u307e\u3068\u3081<\/h2>\n<p>\u4ee5\u4e0a\u3001\u3068\u308a\u3042\u3048\u305a\u74b0\u5883\u69cb\u7bc9\u3067\u3057\u305f\u3002\u6b21\u306f\u30ab\u30e1\u30e9\u6620\u50cf\u3067\u306e\u691c\u77e5\u30e2\u30c7\u30eb\u5b9f\u884c\u306e\u4e88\u5b9a\u3067\u3059\u3002<\/p>\n<h2>\u5ba3\u4f1d<\/h2>\n<p>\u30b0\u30eb\u30fc\u30d7\u7814\u7a76\u958b\u767a\u672c\u90e8 AI\u7814\u7a76\u958b\u767a\u5ba4\u3067\u306f\u3001\u30c7\u30fc\u30bf\u30b5\u30a4\u30a8\u30f3\u30c6\u30a3\u30b9\u30c8\/\u6a5f\u68b0\u5b66\u7fd2\u30a8\u30f3\u30b8\u30cb\u30a2\u3092\u52df\u96c6\u3057\u3066\u3044\u307e\u3059\u3002\u30d3\u30c3\u30b0\u30c7\u30fc\u30bf\u306e\u89e3\u6790\u696d\u52d9\u306a\u3069AI\u7814\u7a76\u958b\u767a\u5ba4\u306b\u3054\u8208\u5473\u3092\u6301\u3063\u3066\u9802\u3051\u308b\u65b9\u304c\u3044\u3089\u3063\u3057\u3083\u3044\u307e\u3057\u305f\u3089\u3001\u305c\u3072 <a target=\"_blank\" href=\"https:\/\/recruit.gmo.jp\/engineer\/jisedai\/entry\/\">\u52df\u96c6\u8077\u7a2e\u4e00\u89a7<\/a> \u304b\u3089\u3054\u5fdc\u52df\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002\u7686\u3055\u3093\u306e\u3054\u5fdc\u52df\u3092\u304a\u5f85\u3061\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<\/p><\/div>\n\n<br \/><a href=\"https:\/\/recruit.gmo.jp\/engineer\/jisedai\/blog\/jetson-x-realsense-deepstream\/\">\u5143\u306e\u8a18\u4e8b\u3092\u78ba\u8a8d\u3059\u308b <\/a><\/p>\n","protected":false},"excerpt":{"rendered":"\u306f\u3058\u3081\u306b \u3053\u3093\u306b\u3061\u306f\u3002\u30b0\u30eb\u30fc\u30d7\u7814\u7a76\u958b\u767a\u672c\u90e8\u3001AI\u7814\u7a76\u958b\u767a\u5ba4\u306eY.T\u3067\u3059\u3002\u30a8\u30c3\u30b8GPU\u3001\u826f\u3044\u97ff\u304d\u3067\u3059\u306d\u3002\u3053\u306e\u8a18\u4e8b\u306f\u3001Jetson \u3078\u306e DeepStream 7.1 \u3092\u5c0e\u5165\u3068\u3001Intel RealSense \u306e\u63a5\u7d9a\u65b9\u6cd5\u306b\u3064 [&hellip;]","protected":false},"author":1,"featured_media":7619,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[4],"tags":[],"class_list":["post-7618","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-company-tec"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.6 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Jetson \u00d7 RealSense \u3067\u7269\u4f53\u691c\u77e5: ROS 2 \/ DeepStream \u306e\u5c0e\u5165 - \u30dd\u30b1\u30b3\u30f3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/recruit.gmo.jp\/engineer\/jisedai\/blog\/jetson-x-realsense-deepstream\/\" \/>\n<meta property=\"og:locale\" content=\"ja_JP\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Jetson \u00d7 RealSense \u3067\u7269\u4f53\u691c\u77e5: ROS 2 \/ DeepStream \u306e\u5c0e\u5165 - \u30dd\u30b1\u30b3\u30f3\" \/>\n<meta property=\"og:description\" content=\"\u306f\u3058\u3081\u306b \u3053\u3093\u306b\u3061\u306f\u3002\u30b0\u30eb\u30fc\u30d7\u7814\u7a76\u958b\u767a\u672c\u90e8\u3001AI\u7814\u7a76\u958b\u767a\u5ba4\u306eY.T\u3067\u3059\u3002\u30a8\u30c3\u30b8GPU\u3001\u826f\u3044\u97ff\u304d\u3067\u3059\u306d\u3002\u3053\u306e\u8a18\u4e8b\u306f\u3001Jetson \u3078\u306e DeepStream 7.1 \u3092\u5c0e\u5165\u3068\u3001Intel RealSense \u306e\u63a5\u7d9a\u65b9\u6cd5\u306b\u3064 [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/recruit.gmo.jp\/engineer\/jisedai\/blog\/jetson-x-realsense-deepstream\/\" \/>\n<meta property=\"og:site_name\" content=\"\u30dd\u30b1\u30b3\u30f3\" \/>\n<meta property=\"article:published_time\" content=\"2025-09-30T18:48:32+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/pokecon.jp\/job\/wp-content\/uploads\/2025\/09\/out_cut_poster-150x150.jpg\" \/>\n\t<meta property=\"og:image:width\" content=\"150\" \/>\n\t<meta property=\"og:image:height\" content=\"150\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/jpeg\" \/>\n<meta name=\"author\" content=\"info@pokecon.jp\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u57f7\u7b46\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"info@pokecon.jp\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u63a8\u5b9a\u8aad\u307f\u53d6\u308a\u6642\u9593\" \/>\n\t<meta name=\"twitter:data2\" content=\"4\u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\\\/\\\/recruit.gmo.jp\\\/engineer\\\/jisedai\\\/blog\\\/jetson-x-realsense-deepstream\\\/#article\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/pokecon.jp\\\/job\\\/7618\\\/\"},\"author\":{\"name\":\"info@pokecon.jp\",\"@id\":\"https:\\\/\\\/pokecon.jp\\\/job\\\/#\\\/schema\\\/person\\\/16c9f07b1ba984d165d9aee259bda997\"},\"headline\":\"Jetson \u00d7 RealSense \u3067\u7269\u4f53\u691c\u77e5: ROS 2 \\\/ DeepStream 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