Intel RealSense Cameras: D435i, T265, ZR300

Last updated on May 7, 2023 pm

[TOC]

Overview

Install and Run [2]

Install SDK

Add Keys

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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

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# 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

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

Install Dev and Debug tools

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

Install ROS

Install ROS package [3] [4]

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sudo apt install ros-melodic-realsense2-camera

Run

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realsense-viewer

run with ROS

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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 [1]

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]

Reference

  1. 深度摄像头 D435i ↩
  2. Intel RealSense D435i:简介、安装与使用(ROS、Python) ↩
  3. 从零开始使用Realsense D435i运行VINS-Mono ↩
  4. Realsense D435i 在ubuntu上安装SDK与ROS Wrapper 运行ORB-SLAM2、RTAB和VINS-Mono ↩
  5. Intel RealSense Tracking Camera T265 ↩
  6. realsense_sdk_zr300 ↩
Computer Vision
#Stereo Vision #Camera #Visual SLAM
Intel RealSense Cameras: D435i, T265, ZR300
https://cgabc.xyz/posts/d468fb33/
Author
Gavin Gao
Posted on
July 25, 2019
Licensed under