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RealSense Installation

1. librealsense2 SDK

The first step is to install the librealsense2 SDK. Follow the steps in this librealsense2 installation guide

If the installation was successful you should be able to run the following command in a terminal:

realsense-viewer

2. pyrealsense2

Now we need to install the python bindings for the librealsense2 SDK.

For this, you can simply run the following command in your conda environment:

pip install pyrealsense2

3. airo_camera_toolkit

Now We will test whether our `airo_camera_toolkit can access the Realsense cameras. In this directory run:

conda activate airo-mono
python realsense.py

Complete the prompts. If everything looks normal, congrats, you successfully completed the installation! 🎉

4. Camera details

Realsense cameras offer a lot of possible resolutions and framerates. Use the realsense_scan_profiles.py script to print an outplut like this for your camera:

D415:

Device Name: Intel RealSense D415
Serial Number: 925322060348
Available color resolutions, framerates and FoV:
(1920, 1080): [6, 15, 30] fps, (69.6°, 42.9°)
(1280, 720): [6, 15, 30] fps, (69.6°, 42.9°)
(960, 540): [6, 15, 30, 60] fps, (69.6°, 42.9°)
(848, 480): [6, 15, 30, 60] fps, (69.3°, 42.9°)
(640, 480): [6, 15, 30, 60] fps, (55.1°, 42.9°)
(640, 360): [6, 15, 30, 60] fps, (69.6°, 42.9°)
(424, 240): [6, 15, 30, 60] fps, (69.3°, 42.9°)
(320, 240): [6, 30, 60] fps, (55.1°, 42.9°)
(320, 180): [6, 30, 60] fps, (69.6°, 42.9°)
Available depth resolutions, framerates and FoV:
(1280, 720): [6, 15, 30] fps, (71.0°, 43.8°)
(848, 480): [6, 15, 30, 60, 90] fps, (70.7°, 43.8°)
(848, 100): [100] fps, (70.7°, 9.6°)
(640, 480): [6, 15, 30, 60, 90] fps, (56.3°, 43.8°)
(640, 360): [6, 15, 30, 60, 90] fps, (71.0°, 43.8°)
(480, 270): [6, 15, 30, 60, 90] fps, (71.0°, 43.8°)
(424, 240): [6, 15, 30, 60, 90] fps, (70.7°, 43.8°)
(256, 144): [90] fps, (16.3°, 9.2°)

D435:

Device Name: Intel RealSense D435
Serial Number: 817612070315
Available color resolutions, framerates and FoV:
(1920, 1080): [6, 15, 30] fps, (69.0°, 42.2°)
(1280, 720): [6, 15, 30] fps, (69.0°, 42.2°)
(960, 540): [6, 15, 30, 60] fps, (69.0°, 42.2°)
(848, 480): [6, 15, 30, 60] fps, (68.7°, 42.2°)
(640, 480): [6, 15, 30, 60] fps, (54.5°, 42.2°)
(640, 360): [6, 15, 30, 60] fps, (69.0°, 42.2°)
(424, 240): [6, 15, 30, 60] fps, (68.7°, 42.2°)
(320, 240): [6, 30, 60] fps, (54.5°, 42.2°)
(320, 180): [6, 30, 60] fps, (69.0°, 42.2°)
Available depth resolutions, framerates and FoV:
(1280, 720): [6, 15, 30] fps, (88.9°, 57.8°)
(848, 480): [6, 15, 30, 60, 90] fps, (88.9°, 58.1°)
(848, 100): [100, 300] fps, (88.9°, 13.2°)
(640, 480): [6, 15, 30, 60, 90] fps, (78.6°, 63.1°)
(640, 360): [6, 15, 30, 60, 90] fps, (88.9°, 57.8°)
(480, 270): [6, 15, 30, 60, 90] fps, (88.9°, 57.8°)
(424, 240): [6, 15, 30, 60, 90] fps, (88.9°, 58.1°)
(256, 144): [90, 300] fps, (22.2°, 12.6°)