kolinguo/realsense repository overview

Container for launching and configuring the Intel RealSense D435i RGBD camera.
This docker image has Ubuntu 18.04, CUDA 11.3.1, ROS Melodic, OpenCV 4.4.0, librealsense⁠, realsense-ros⁠.

⁠Build & compile codebase

1. ./docker_setup.sh realsense_capture to pull the docker image and build the container.
2. cd realsense_capture && ./build_ros.sh to compile the packages.

⁠Running

Run ./realsense_capture/start_camera.sh to start the camera.
This will launch the launch file realsense_d435i_rviz.launch⁠. It is configured to launch the RGB color feed (1280x720 @ 30 fps), depth feed (848x480 @ 30 fps) aligned with color using HighAccuracyPreset⁠, and the IMU sensors (accel and gyro @ 200 fps).

⁠Note: RealSense D435i depth presets and performance tuning

To obtain better performance of the D435i depth camera, we followed the post of RealSense D400 series visual presets⁠ and uses the HighAccuracyPreset. All presets can be found here⁠. For the best performance, please check out the advanced guide for tuning depth cameras⁠.