[TOC]

Overview

• https://www.intelrealsense.com/developers/

• The basics of stereo depth vision

• 调整realsense相机以获得最佳性能

• How-to: Getting IMU data from D435i and T265

• RS Cam related scripts (CCV)

Install and Run ¹

Install SDK

Add Keys

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE

# or
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE

Add Repositories

# Ubuntu 18.04

# maybe Error
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

# ok: Remove the offending APT repo and add the new secure repo
sudo add-apt-repository --remove "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo bionic main" -u

Install Libs

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

Install Dev and Debug tools

sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

Install ROS

Install ROS package ^{2 3}

sudo apt install ros-melodic-realsense2-camera

Run

realsense-viewer

run with ROS

roslaunch realsense2_camera rs_camera.launch

run multiple RS Cams

• https://github.com/cggos/ccv/blob/master/apps/camkit/rs_cam/ros/rs_multiple_devices.launch

RS D435i ⁴

RS T265 ⁵

Tech Specs

• Intel® Movidius™ Myriad™ 2.0 VPU: Visual Processing Unit optimized to run V‑SLAM at low power
• Two Fisheye lenses
  • FOV: close to hemispherical 163±5° field of view
  • Resolution: 840x800
  • Frame Rate: 30 FPS
  • Image Format: Y8
  • sensor: OV9282
• BMI055 IMU
  • Gyroscope
    • Frame Rate: 200 FPS
  • Accelerator
    • Frame Rate: 62 FPS
• infrared cut filter: The T265 features an infrared cut filter over the lenses, allowing it to ignore the projected patterns from D400 series depth cameras
• pose output
  • Format: 6DOF
  • Frame Rate: 200 FPS

Test

Results

• 相机前视，运行正常，回到原点

  

  

• 相机下视，运行正常，最终离原点误差 0.8m 左右

  

• 快速运动（某些地方来回快速挥动），正常运行，不飞，最终离原点误差 2m 左右

  

• 遮挡右目，正常运行，最终离原点误差 0.7m 左右

  

• 遮挡左目，正常运行，最终离原点误差 2m 左右

  

Conclusion

• pros

  • 相机前视，正常运动，回到原点
  • 快速运动（手快速来回挥动）不会飞，不过最终到原点的误差会差些
  • 相机下视（看到的都是地毯），也会正常运行，不过最终到原点的误差会差些
  • 遮挡任一相机（单目状态），也会正常运行，不过最终到原点的误差会差些

• cons

  • 回环检测（貌似没有，待确定）
  • 运行中静止一段时间，有时SLAM挂掉
  • SLAM挂掉后有时需要重新插拔T265后才能正常启动

RS ZR300 ⁶

• 安装&运行 ZR300驱动