Post date : 2020-08-01 (Last update : 2020-08-02)

Intel Real Sense Depth Camra D435i

Data

• Datasheet
  • https://www.intelrealsense.com/wp-content/uploads/2020/06/Intel-RealSense-D400-Series-Datasheet-June-2020.pdf
• Maximum Range: Approx. 10 meters.
• Depth
  • Depth Technology: Active IR Stereo
  • Depth Field of View (FOV): 86° × 57° (±3°)
  • Depth Output Resolution: Up to 1280 × 720
  • Depth Frame Rate: Up to 90 fps
• RGB
  • RGB Sensor Resolution: 1920 × 1080
  • RGB Frame Rate: 30 fps
  • RGB Sensor FOV (H × V × D): 69.4° × 42.5° × 77° (±3°)

Ref.

1. Intelサポートページ (https://www.intel.co.jp/content/www/jp/ja/support/products/190004/emerging-technologies/intel-realsense-technology/intel-realsense-cameras/intel-realsense-depth-camera-d435i.html )
2. RealSense Videos & Tutorials (https://www.intelrealsense.com/videos-and-tutorials/ )
3. Switch Science (https://www.switch-science.com/catalog/5235/ )
4. RealSense D415とD435 および D435iとT265の比較と選び方 (https://www.tegakari.net/2019/04/realsense_compare/ )
5. SkeltonTracking SDK by CUBEMOS (https://www.intelrealsense.com/skeleton-tracking/)
6. OpenNI2 に関して
   1. Intel® RealSense™ SDK 2.0 and OpenNI2® ( https://www.intelrealsense.com/openni2-for-intel-realsense-sdk/)
   2. github librealsense/wrappers/openni2/ (https://github.com/IntelRealSense/librealsense/tree/development/wrappers/openni2)
   3. Windows上で RealSense SDK を BUILD する (Python + OpenNI2) (https://nw.tsuda.ac.jp/lec/NtRealSense/build_win/)
   4. RealSense 以外
      1. SimpleOpenNI (Processing)

ubuntu18.04 : RealSense2 SDK package (2020-08-01)

1. librealsense2 のインストール
   1. サーバ公開鍵の登録
      • $ sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
   2. リポジトリ登録
      • $ sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
   3. $ sudo apt-get install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg
2. デバイス確認
   • $ lsusb
   • Bus 003 Device 002: ID 8086:0b3a Intel Corp.
   • $ modinfo uvcvideo | grep "version:"
   • version: 1.1.2.realsense-1.3.14
   • srcversion: BE1821F94C3D410077ACD10
3. realsense-viewer
   • $ realsense-viewer
4. Python
   • $ sudo pip install pyrealsense2

OpenNI2 は NG

1. OpenNI2 (https://structure.io/openni)
2. OpenNI2 wrapper (https://github.com/IntelRealSense/librealsense/tree/master/wrappers/openni2)
3. 以下はまだ．．．
   1. ソースからコンパイル必要がある (librs2driver.so )
   2. copy librs2driver.so and librealsense2.so to OPENNI2_DIR/Samples/Bin/OpenNI2/Drivers/
      1. cd OPENNI2_DIR/Samples/Bin/OpenNI2/Drivers/
      2. package でインストールした場合は /usr/lib/x86_64-linux-gnu/librealsense2.so . (librs2driver.so が含まれていないのでNG)

ubuntu18.04 : RealSense2 SDK + OpenNI2 (2020-08-03)

1. OpenNI2 のインストール
   1. Download (https://structure.io/openni)
   2. $ sudo mv OpenNI-Linux-x64-2.2 /usr/local/OpenNI
   3. $ cd /usr/local/OpenNI
   4. $ sudo sh ./install.sh
   5. $ source OpenNIDevEnvironment
2. Nite2インストール
3. RealSense2 SDK のインストール (https://github.com/IntelRealSense/librealsense/blob/development/doc/installation.md )
   1. $ sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
   2. $ sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
   3. $ git clone https://github.com/IntelRealSense/librealsense.git
   4. $ cd librealsense
   5. $ ./scripts/setup_udev_rules.sh
   6. $ ./scripts/patch-realsense-ubuntu-lts.sh
   7. $ vi wrappers/openni2/CMakeLists.txt
      • set(OPENNI2_DIR "/usr/local/OpenNI" ...)
      • set(REALSENSE_DIR "/usr/local" ...)
      • include_directories($(OPENNI2_DIR}/Include)
   8. $ makdir build; cd build
   9. $ cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true -DBUILD_OPENNI2_BINDINGS=true
   10. $ make unistall && make clean && make
   11. $ sudo make install
   12. ドライバインストール
       1. $ cp _out/rs2driver.so /usr/local/OpenNI/Samples/Bin/OpenNI2/Drivers/
       2. $ cp _out/rs2driver.so /usr/local/OpenNI/Tools/OpenNI2/Drivers/
       3. $ cp _out/rs2driver.so _NiTE2DIR_/Samples/OpenNI2/Drivers/
4. プログラムの実行
   1. RealSense SDK
      1. $ realsense-viewer
   2. OpenNI
      1. SimpleViewer
         1. $ cd /usr/local/OpenNI/Samples/Bin/
         2. $ ./SimpleViwer
      2. NiViewer
         1. $ cd /usr/local/OpenNI/Tools/
         2. $ ./NiViewer
   3. NiTE2
      1. $ cd _NiTE2DIR_/Samples/Bin/
      2. $ ./UserViewer

Ref.

• https://github.com/microsoft/vcpkg/pull/5275/files

WSL1 ubuntu18.04 (2020-08-01) : デバイスが認識できません

1. librealsense2 のインストール
   1. サーバ公開鍵の登録
      • $ sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
   2. リポジトリ登録
      • $ sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
   3. $ sudo apt-get install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg
2. vcXsrv 起動
3. realsense-viewer : ERROR
   • vcXsrv を最新版 (1.20.8.1) に上げたら起動 -> センサーが見つからない
   • vcXsrv が古い場合 (2018年版を使っていた)
     • $ realsense-viewer
     1. libGL error: No matching fbConfigs or visuals found
     2. libGL error: failed to load driver: swrast
     3. OpenGL 3.0 or ARB_vertex_array_object extension required!
     • glxgears は動くので、3番目のエラーが解消すれば動くと思われるたが、vcXsrv のバージョンアップで解消した模様

そもそも

• lsusb で USBデバイスが表示されない -> WSL1 では USB Camera 等の認識もダメらしい -> WSL2に期待 ??