Intel RealSense Camera

Provides quick access and useful resources for Intel RealSense camera.

Quick Access

Before Purchasing

Check the specs on the store page, and decide which model to purchase.

I only tested the following cameras:

Intel RealSense Depth Camera D425i
Intel RealSense Camera SR300

Quick Start

We assume you are using Linux.

Follow this guide to install librealsense. More specifically:

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install -y librealsense2-dkms
sudo apt-get install -y librealsense2-utils
# Optional
sudo apt-get install -y librealsense2-dev
sudo apt-get install -y librealsense2-dbg
# Test with below, should include `realsense` string
modinfo uvcvideo | grep "version:"

Connect the camera to your machine and run:
```
realsense-viewer
```

Development Environment

Follow this guide. More specifically:

sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev
# Requires Ubuntu 18/20, for other versions, see the original guide
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

Camera Intrinsics

Use the rs-enumerate-devices tool:

rs-enumerate-devices -c > camera_intrinsics

Search the results by "Color" / 1920x1080, you should see something like the following:

 Intrinsic of "Color" / 1920x1080 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16/RAW16}
  Width:        1920
  Height:       1080
  PPX:          948.705688476562
  PPY:          519.287170410156
  Fx:           1363.38623046875
  Fy:           1361.70764160156
  Distortion:   Inverse Brown Conrady
  Coeffs:       0       0       0       0       0
  FOV (deg):    70.3 x 43.26

Following the definition, the corresponding intrinsic matrix should follow:

Fx 0  Cx
0  Fy Cy
0  0  1

(Cx, Cy) and (PPX, PPY) here both describe the pixel coordinates of the principal point (center of projection), as mentioned in this post.

So the intrinsic matrix for the example above is:

363386230468750000e+03 0.000000000000000000e+00 9.487056884765625000e+02
000000000000000000e+00 1.361707641601562500e+03 5.192871704101562500e+02
000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00

ROS

Troubleshooting

FAQs:

I encountered the following error messages:
```
control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
```
The message only repeats for a few times. I simply ignore it and can successfully retrieve the RGB and depth images.