realsense

The latest version of our system uses RGB-D data captured from an Intel® RealSense™ D415 Camera. We provide a lightweight C++ executable that streams data in real-time using librealsense SDK 2.0 via TCP. This enables you to connect the camera to an external computer and fetch RGB-D data remotely over the network while training. This can come in handy for many real robot setups. Of course, doing so is not required -- the entire system can also be run on the same computer.

Installation Instructions:

Download and install librealsense SDK 2.0

Compile realsense.cpp:

cd realsense
mkdir build
cd build
cmake ..
make

Note: To enable verbose logging of device information, use cmake -DLOG_INFO .. instead.

To Run

Connect your RealSense camera with a USB 3.0 compliant cable (important: RealSense D400 series uses a USB-C cable, but still requires them to be 3.0 compliant to be able to stream RGB-D data). To start the TCP server and RGB-D streaming, run the following:
```
./realsense
```
Optionally, pick your own port
```
./realsense 12345
```
Optionally, pick your own port and manual exposure
```
./realsense 12345 120
```
If there are multiple cameras, a prompt will print out their serial numbers and ask you to choose which device
```
Found 2 devices.
[0] 821212062745
[1] 805212060035
Pick one device:
```
In this case, for instance, you can choose 0 or 1.
Keep the executable running, and test a python TCP client that fetches RGB-D data from the active TCP server, run the following:
```
python capture.py
```

You can change the camera parameter by changing the following lines in the realsense.cpp file:

int stream_width = 640;
int stream_height = 360;
int depth_disparity_shift = 25;
int stream_fps = 30;

Also change the following lines in the camera.py file to match the cpp file:

self.im_height = 720
self.im_width = 1280
self.tcp_host_ip = '127.0.0.1'     
self.tcp_port = 50010

NOTE: FIX FOR VERSIONS PRIOR TO V2.16 (V2.15 and earlier)

Change the below line:

// Find and colorize the depth data
rs2::frame depth_colorized = color_map.colorize(aligned_depth);

// Find and colorize the depth data
rs2::frame depth_colorized = color_map(aligned_depth);

Dependencies

Install GLFW

GLFW is required for capturing images. Check out compiling guide.

# Install dependencies for Ubuntu:
$ sudo apt install xorg-dev