2019年5月左右,拿到了两个Intel RealSense设备(D425和D435i),感觉不错就拿过来研究研究,刚开始真是一窍不通,后面在网上查了相关资料后才渐渐熟悉,因此为了便于以后的研究开发,在此就将自己相关经历作下记录
1.介绍
2018年1月19日,英特尔宣布更新RealSense深度摄像头产品线,带来两款全新的产品:D415和D435,现在已经开始接受预定。按照英特尔的说法,新型深度摄像头非常适合硬件原型设计者和软件开发者,设备采用了即用型USB供电形式,并且搭载了D400系列深度模块,具备完整光学深度解决方案。
RealSense D415提供卷帘快门感应器和窄视野的小镜头。英特尔表示,D415搭载D410深度传感器,狭窄视野提供了高深度分辨率,这是“精确测量的理想选择”。
RealSense D435提供全局快门感应器和更大的镜头,以获得比便宜的D415相机更好的低光照性能。D435还具有更强大的RealSense模块D430。
英特尔表示,D435相机是“机器人导航和物体识别等应用的首选解决方案”。这两款RealSense D400系列摄像机的捕捉最远距离可以达到10米,而且新款在户外阳光下也可以使用,均支持输出1280x720分辨率的深度画面,更普通的视频传输方面可以达到90fps。
2.安装使用
在线安装RealSense SDK
Installing the packages:
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
Ubuntu 18 LTS:
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
Install the libraries (see section below if upgrading packages):
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
The above two lines will deploy librealsense2 udev rules, build and activate kernel modules, runtime library and executable demos and tools.
Optionally install the developer and debug packages:
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
With dev package installed, you can compile an application with librealsense using g++ -std=c++11 filename.cpp -lrealsense2 or an IDE of your choice.
Reconnect the Intel RealSense depth camera and run: realsense-viewer to verify the installation.
Verify that the kernel is updated :
modinfo uvcvideo | grep “version:” should include realsense string
官网参考地址:https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages
固件升级Device Firmware Update (DFU)
Open terminal, press Ctrl + Alt + T
Add Intel server to list of repositories:
>i.echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main'| sudo tee /etc/apt/sources.list.d/realsense-public.list
>i.sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE
>i.sudo apt-get update
>i.sudo apt-get install intel-realsense-dfu*
i.Click on this link:
https://downloadcenter.intel.com/download/27522/Latest-Firmware-for-Intel-RealSense-D400-Product-Family?v=t
i.Type: lsusb
ii.Notice “Intel Corp.” bus and device numbers; DFU tool uses these values to identify Intel® RealSense™ D400 series camera.
i. Type command:
(This command specifies bus #, device #, -f flag to force
upgrade, and –i flag for complete system path to
downloaded FW.bin file.)
intel-realsense-dfu –b 002 –d 002 –f –i
/home/intel/downloads/Signed_Image_UVC_5_9_2_0.b
in
i. Check firmware with command:
intel-realsense-dfu –p(或者intel-realsense-dfu -p -b 002 -d 002)
参考地址:
Latest Firmware for Intel® RealSense™ D400 Product Family(下载地址)
Linux* Firmware Update User Guide.
Linux* Device Firmware Update (DFU) Tool Install and User Guide (PDF)
使用工具进行固件升级
具体参考:
Firmware Update Tool (rs-fw-update)
使用
安装好RealSense SDK与固件升级后,将RealSense设备插入到已升级的USB口上
随后打开终端,输入realsense-viewer即可