Difference between revisions of "Driver installation for Intel RealSense camera"
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| − | The Intel RealSense camera series consist of RGBD-cameras, which deliver not only color pictures, but also depth pictures. Hence, it is possible to calculate the depth perception, 3D imaging, interior mapping, and feature tracking. | + | The Intel RealSense camera series consist of RGBD-cameras, which deliver not only color pictures, but also depth pictures. Hence, it is possible to calculate the depth perception, 3D imaging, interior mapping, and feature tracking. These features and the low cost, makes this camera attractive in the field of robotics. |
| − | In order to use the RealSense cameras F200, R200, SR200, LR200 or ZR300 in | + | In order to use the Intel RealSense cameras F200, R200, SR200, LR200 or ZR300 in an Linux environment, the library [https://github.com/IntelRealSense/librealsense librealsense] is needed. Also the kernel needs to be patched. This patch is necessary, to add the right picture format into the Video4Linux driver. |
The librealsense library needs further libraries and a C++-compiler with complete C++11 support. | The librealsense library needs further libraries and a C++-compiler with complete C++11 support. | ||
| − | In order to keep the installation process as simple as possible, all the required libraries and components are | + | In order to keep the installation process as simple as possible, all the required libraries and components are provided in one debian-paket. Using an installer, the complete installation is automated. |
| − | In case a manual | + | In case a manual installation is wished, the instructions of the librealsense library are found on [https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md readme]. |
| − | '''Note''': The Intel RealSense camera is only compatible to a | + | '''Note''': The Intel RealSense camera is only compatible to a Robotino 3 (2014) using an extra USB3 port. It is not compatible to the USB2 port. |
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== Installation on Robotino OS 1.2.x (Ubuntu 12.04) systems == | == Installation on Robotino OS 1.2.x (Ubuntu 12.04) systems == | ||
| − | '''Note''': The Intel | + | '''Note''': The Intel RealSense camera is not compatible to the ROS version of Ubuntu 12.04. Hence, it is suggested to update the systems to Ubuntu 16.04. |
Since the Intel RealSense camera driver needs a kernel update and another C++ compiler, the system will be modified by the installer as follows | Since the Intel RealSense camera driver needs a kernel update and another C++ compiler, the system will be modified by the installer as follows | ||
* Installation of the provided kernel 4.4.0 (included in the installer). | * Installation of the provided kernel 4.4.0 (included in the installer). | ||
| − | * Inclusion of an inoffical paket repository (PPA), in order to use components of the C++-Compiler | + | * Inclusion of an inoffical paket repository (PPA), in order to use components of the C++-Compiler tool chain. |
* Installation of the provided paket libglfw3 and librealsense (included in the installer). | * Installation of the provided paket libglfw3 and librealsense (included in the installer). | ||
| − | '''Note''': The installation of the provided kernel could be a small security issue. For official supported kernels, security updates are provided. For the provided kernel there | + | '''Note''': The installation of the provided kernel could be a small security issue. For official supported kernels, security updates are provided. For the provided kernel there are no security updates prepared. Therefore, it is suggested to update the system to Ubuntu 16.04. |
To start the installation, the following commands need to be executed in a terminal. Internet connection is required: | To start the installation, the following commands need to be executed in a terminal. Internet connection is required: | ||
<pre> | <pre> | ||
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</pre> | </pre> | ||
| − | After successful | + | After successful installation restart the computer. |
| − | == Installation | + | == Installation for Robotino OS 2.0.x (Ubuntu 14.04) and Robotino OS 3.0.x (Ubuntu 16.04) systems == |
| − | + | To start the installation, the following commands need to be executed in a terminal. Internet connection is required: | |
<pre> | <pre> | ||
wget http://doc.openrobotino.org/download/jebens/RealSense4Robotino_0.9.3-1_NoKernel.bin | wget http://doc.openrobotino.org/download/jebens/RealSense4Robotino_0.9.3-1_NoKernel.bin | ||
| Line 42: | Line 42: | ||
</pre> | </pre> | ||
| − | + | After successful installation restart the computer. | |
| − | === | + | === Necessary steps after updating the kernels === |
| − | + | In case, the kernel was updated, the driver of the Intel RealSense camera needs to be established again. This will be executed by calling the scripts | |
| + | <tt>/usr/src/librealsense/patch_all_kernels.sh</tt>: | ||
<pre> | <pre> | ||
sudo /usr/src/librealsense/patch_all_kernels.sh | sudo /usr/src/librealsense/patch_all_kernels.sh | ||
</pre> | </pre> | ||
| − | + | After the driver is installed for the upated kernel, the computer needs to be restarted bevor using the Intel RealSense camera. | |
| − | + | == Testing the camera == | |
| − | == | + | The installer includes sample programs to test the camera. Initially the camera needs to be connected. Using the program <tt>cpp-pointcloud</tt>, the 3d data can be visualised in a 3d viewer. The source code for these samples are found in the <tt>/usr/share/librealsense-examples/</tt> folder and in the <tt>/usr/bin/</tt> folder. |
| − | |||
| − | |||
Revision as of 15:25, 14 March 2017
The Intel RealSense camera series consist of RGBD-cameras, which deliver not only color pictures, but also depth pictures. Hence, it is possible to calculate the depth perception, 3D imaging, interior mapping, and feature tracking. These features and the low cost, makes this camera attractive in the field of robotics.
In order to use the Intel RealSense cameras F200, R200, SR200, LR200 or ZR300 in an Linux environment, the library librealsense is needed. Also the kernel needs to be patched. This patch is necessary, to add the right picture format into the Video4Linux driver. The librealsense library needs further libraries and a C++-compiler with complete C++11 support.
In order to keep the installation process as simple as possible, all the required libraries and components are provided in one debian-paket. Using an installer, the complete installation is automated.
In case a manual installation is wished, the instructions of the librealsense library are found on readme.
Note: The Intel RealSense camera is only compatible to a Robotino 3 (2014) using an extra USB3 port. It is not compatible to the USB2 port.
Contents
Installation on Robotino OS 1.2.x (Ubuntu 12.04) systems
Note: The Intel RealSense camera is not compatible to the ROS version of Ubuntu 12.04. Hence, it is suggested to update the systems to Ubuntu 16.04.
Since the Intel RealSense camera driver needs a kernel update and another C++ compiler, the system will be modified by the installer as follows
- Installation of the provided kernel 4.4.0 (included in the installer).
- Inclusion of an inoffical paket repository (PPA), in order to use components of the C++-Compiler tool chain.
- Installation of the provided paket libglfw3 and librealsense (included in the installer).
Note: The installation of the provided kernel could be a small security issue. For official supported kernels, security updates are provided. For the provided kernel there are no security updates prepared. Therefore, it is suggested to update the system to Ubuntu 16.04. To start the installation, the following commands need to be executed in a terminal. Internet connection is required:
wget http://doc.openrobotino.org/download/jebens/RealSense4Robotino_0.9.3-1_Kernel_4.4.0-36.55.bin chmod +x *.bin sudo ./RealSense4Robotino_0.9.3-1_Kernel_4.4.0-36.53.bin
After successful installation restart the computer.
Installation for Robotino OS 2.0.x (Ubuntu 14.04) and Robotino OS 3.0.x (Ubuntu 16.04) systems
To start the installation, the following commands need to be executed in a terminal. Internet connection is required:
wget http://doc.openrobotino.org/download/jebens/RealSense4Robotino_0.9.3-1_NoKernel.bin chmod +x *.bin sudo ./RealSense4Robotino_0.9.3-1_NoKernel.bin
After successful installation restart the computer.
Necessary steps after updating the kernels
In case, the kernel was updated, the driver of the Intel RealSense camera needs to be established again. This will be executed by calling the scripts
/usr/src/librealsense/patch_all_kernels.sh:
sudo /usr/src/librealsense/patch_all_kernels.sh
After the driver is installed for the upated kernel, the computer needs to be restarted bevor using the Intel RealSense camera.
Testing the camera
The installer includes sample programs to test the camera. Initially the camera needs to be connected. Using the program cpp-pointcloud, the 3d data can be visualised in a 3d viewer. The source code for these samples are found in the /usr/share/librealsense-examples/ folder and in the /usr/bin/ folder.
