Intel RealSense (RGB-D Camera)
General Description
The Intel ReanSense RGB-D camera is a line of depth-sensing cameras developed by Intel for the data acquisition of both high-definition color video and depth data. They combine an RBG camera with a depth sensor to capture high-quality images alongside depth information.
Intel provides different types of depth technologies in the RealSense cameras, depending on the camera model. This repository contains the information for the deployment of D435 and L515 cameras, which use:
-
Stereo Depth:
- Used by the D400 series.
- Two or more cameras capture depth information by comparing the disparity among them.
-
Active Stereo:
- Used by the RealSense D435 model.
- A combination of stereo cameras and infrared light is performed to enhance depth perception in various lightning conditions.
-
Time-of-Flight:
- Used by RealSense L515 model.
- An infrated light is emitted, and the time taken for its return is computed for the depth calculation.
These cameras offer a high resolution for RBG (1080p) and depth data (720p).
Depth ranges varies depending on the model, from close-range capabilities (around 0.25m) to longer ranges (up to 10m for certain models).
RealSense cameras are compact, lightweight and are easy to integrate, making them suitable for robotics applications.
| Resource | Link |
|---|---|
| Source code | Link to source code |
Contact
The following table includes contact information of the main developers in charge of the component:
| Name | Organisation | |
|---|---|---|
| Ander Gonzalez | ander.gonzalez@ikerlan.es |  |
| Daniel Sedano | dsedano@ikerlan.es | |
License
Open source - BSD
Technical Foundations
WIP
Integrated and Open Source Components
Overview
This module requires the combination of the Intel RealSense SDK 2.0 for the control and data acquisition of the cameras, and the ROS Wrapper for the integration with ROS2.
Pre-existing Components
Intel® RealSense™ SDK 2.0
Source
The open source repository can be found in the following link:
Description
The Intel RealSense SDK provides the required drivers for the RGB and depth acquisition of the Intel RealSense cameras.
Purpose in AI-PRISM
The purpose of the component is to allow the data acquisition of the Intel RealSense cameras for the ambient sensing of the surroundings of the robot to be deployed.
License
Intel® RealSense™ ROS Wrapper
Source
The open source repository can be found in the following link:
Description
The Intel RealSense ROS Wrapper provides the integration of the control and data acquisition performed by this line of cameras with ROS2.
Purpose in AI-PRISM
The purpose of the component is to integrate the data acquisition performed by the D435 and L515 cameras with the ROS2 framework for its further processing.
License
How to install
WIP
How to use
Once the component has been installed and deployed, the module will publish ROS2 topics providing RGB and depth information captured by the selected camera.
These topics shall be used by other componentes deployed in the cluster for the sensing of the surroundings of the robot and further processing.