Collect RGBD Information

Documents

1. Intel Realsense D400 Series
2. Intel Realsense T265
3. Intel Realsense L515

Realsense D400 series

1. Realsense-SDK

Homepage

https://github.com/IntelRealSense/librealsense

SDK

https://github.com/IntelRealSense/librealsense/releases

Linux Installation

https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

1. Install

Reference: https://zhuanlan.zhihu.com/p/626664186

1. download the code

git clone https://github.com/IntelRealSense/librealsense

2. Execute the installation dependencies separately:

cd librealsense
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev

3. build librealsense:

mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install 

this step will cost almost 10 minutes depending on your network, so be patient to wait!

Sometimes the network is not good and you need to try several times. Test the installed librealsense ATTENTION: Please note that the wiring must be type-c 3.0, otherwise an error may occur and the image data cannot be displayed.

2. Run

realsense-viewer

bug: After opening realsense-viewer, there is a red reminder in the upper right corner

Description: Multiple realsense udev-rules were found!
1: /etc/udev/rules.d/99-realsense-libusb.rules
2:/lib/udev/rules.d/60-librealsense2-udev-rules.rules
Make sure to remove redundancies!

solution

sudo rm -rf /etc/udev/rules.d/99-realsense-libusb.rules
sudo apt-get autoremove librealsense2-dkms

Get camera internal parameters

1. open realsense-viewer

realsense-viewer

Adjust the resolution to 640*480 and turn on record

You can set the record output folder location

2. Generate a bag file after output, and then use rosbag command to play

rosbag play -l xxx.bag

3. Then output the internal reference information of rgb and depth respectively

• D455 RGB internal parameters (Used for Point Cloud Fusion)

rostopic echo /device_0/sensor_1/Color_0/info/camera_info

header: 
  seq: 0
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
height: 480
width: 640
distortion_model: "Inverse Brown Conrady"
D: [-0.055006977170705795, 0.06818309426307678, -0.0007415282307192683, 0.0006959497695788741, -0.02157658338546753]
K: [378.81097412109375, 0.0, 311.96051025390625, 0.0, 378.4126892089844, 246.17489624023438, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False
---

Corresponding fx, fy, cx, cy

fx, fy = 378.81097412109375, 378.4126892089844  # Focal lengths in x and y
cx, cy = 311.96051025390625, 246.17489624023438  # Principal point (image center)

$$K = \begin{bmatrix} fx & 0 & cx\\ 0 & fy & cy\\ 0 & 0 & 1 \end{bmatrix}$$

• D455 depth internal parameters

rostopic echo /device_0/sensor_0/Depth_0/info/camera_info

header: 
  seq: 0
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
height: 480
width: 640
distortion_model: "Brown Conrady"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [387.4676208496094, 0.0, 314.91455078125, 0.0, 387.4676208496094, 239.83538818359375, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False
---

Corresponding fx, fy, cx, cy

fx, fy = 387.4676208496094, 387.4676208496094  # Focal lengths in x and y
cx, cy = 314.91455078125, 239.83538818359375  # Principal point (image center)

$$K = \begin{bmatrix} fx & 0 & cx\\ 0 & fy & cy\\ 0 & 0 & 1 \end{bmatrix}$$

Realsense T265

see more deails in T265 Usage

2. Pyrealsense2

website

https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/readme.md

Install

pip install pyrealsense2

change the source

pip install pyrealsense2 -i http://pypi.douban.com/simple/ --trusted-host pypi.douban.com

Code Examples

Code examples https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python/examples

Run

python pyrealsense2/realsense.py          # Real-time display aligned RGBD information
python pyrealsense2/aliged_save.py        # Real-time display and save aligned Realsense RGBD information
python pyrealsense2/d400.py               # realsense d400 series drivers (d405, d435i)

Orbbec

website

https://github.com/orbbec/pyorbbecsdk?tab=readme-ov-file

python orbbec/orbbec_save.py    # Real-time display and save aligned Realsense RGBD information
python orbbec/orbbec.py         # Real-time display aligned RGBD information