librealsense repository

Repository Summary

Checkout URI https://github.com/IntelRealSense/librealsense.git
VCS Type git
VCS Version ros2debian
Last Updated 2018-12-11
Dev Status MAINTAINED
Released RELEASED

Packages

Name Version
librealsense2 2.16.5

README




Linux/MacOS Windows
Build Status Build status

Overview

Intel® RealSense™ SDK 2.0 is a cross-platform library for Intel® RealSense™ depth cameras (D400 series and the SR300).

:pushpin: For other Intel® RealSense™ devices (F200, R200, LR200 and ZR300), please refer to the latest legacy release.

The SDK allows depth and color streaming, and provides intrinsic and extrinsic calibration information. The library also offers synthetic streams (pointcloud, depth aligned to color and vise-versa), and a built-in support for record and playback of streaming sessions.

Developer kits containing the necessary hardware to use this library are available for purchase at realsense.intel.com/buy. Information about the Intel® RealSense™ technology at realsense.intel.com

:open_file_folder: Don't have access to a RealSense camera? Check-out sample data

Download and Install

  • Download - The latest releases including the Intel RealSense SDK, Viewer and Depth Quality tools are available at: latest releases. Please check the release notes for the supported platforms, new features and capabilities, known issues, how to upgrade the Firmware and more.

  • Install - You can also install or build from source the SDK (on Linux \ Windows \ Mac OS), connect your D400 depth camera and you are ready to start writing your first application. (For Android limited support, please refer to Android)

Support & Issues: If you need product support (e.g. ask a question about / are having problems with the device), please check the FAQ & Troubleshooting section. If not covered there, please search our Closed GitHub Issues page, Community and Support sites. If you still cannot find an answer to your question, please open a new issue.

What’s included in the SDK:

What Description Download link
Intel® RealSense™ Viewer With this application, you can quickly access your Intel® RealSense™ Depth Camera to view the depth stream, visualize point clouds, record and playback streams, configure your camera settings, modify advanced controls, enable depth visualization and post processing and much more. Intel.RealSense.Viewer.exe
Depth Quality Tool This application allows you to test the camera’s depth quality, including: standard deviation from plane fit, normalized RMS – the subpixel accuracy, distance accuracy and fill rate. You should be able to easily get and interpret several of the depth quality metrics and record and save the data for offline analysis. Depth.Quality.Tool.exe
Debug Tools Device enumeration, FW logger, etc as can be seen at the tools directory Included in Intel.RealSense.SDK.exe
Code Samples These simple examples demonstrate how to easily use the SDK to include code snippets that access the camera into your applications. Check some of the C++ examples including capture, pointcloud and more and basic C examples Included in Intel.RealSense.SDK.exe
Wrappers Python, C#/.NET, Node.js API, as well as integration with the following 3rd-party technologies: ROS, ROS2, LabVIEW, OpenCV, PCL, Unity, Matlab, 🆕OpenNI, 🆕UnrealEngine4 and more to come.

Ready to Hack!

Our library offers a high level API for using Intel RealSense depth cameras (in addition to lower level ones). The following snippet shows how to start streaming frames and extracting the depth value of a pixel:

// Create a Pipeline - this serves as a top-level API for streaming and processing frames
rs2::pipeline p;

// Configure and start the pipeline
p.start();

while (true)
{
    // Block program until frames arrive
    rs2::frameset frames = p.wait_for_frames();

    // Try to get a frame of a depth image
    rs2::depth_frame depth = frames.get_depth_frame();

    // Get the depth frame's dimensions
    float width = depth.get_width();
    float height = depth.get_height();

    // Query the distance from the camera to the object in the center of the image
    float dist_to_center = depth.get_distance(width / 2, height / 2);

    // Print the distance
    std::cout << "The camera is facing an object " << dist_to_center << " meters away \r";
}

For more information on the library, please follow our examples, and read the documentation to learn more.

Contributing

In order to contribute to Intel RealSense SDK, please follow our contribution guidelines.

License

This project is licensed under the Apache License, Version 2.0. Copyright 2018 Intel Corporation

Repository Summary

Checkout URI https://github.com/IntelRealSense/librealsense.git
VCS Type git
VCS Version legacy
Last Updated 2018-11-04
Dev Status MAINTAINED
Released RELEASED

Packages

Name Version
librealsense 1.12.1

README

Intel® RealSense™ Cross Platform API

Platform Build Status
Linux and OS X Build Status
Windows Build status

This project is a cross-platform library (Linux, Windows, Mac) for capturing data from the Intel® RealSense™ F200, SR300, R200, LR200 and the ZR300 cameras. This effort was initiated to better support researchers, creative coders, and app developers in domains such as robotics, virtual reality, and the internet of things. Several often-requested features of RealSense™ devices are implemented in this project, including multi-camera capture.

Developer kits containing the necessary hardware to use this library are available for purchase at this link. This project is separate from the production software stack available in the Intel® RealSense™ SDK, namely that this library only encompasses camera capture functionality without additional computer vision algorithms.

The Intel® RealSense™ Cross Platform API is experimental and not an official Intel product. It is subject to incompatible API changes in future updates.

Table of Contents

Documentation

A comprehensive suite of sample and tutorial applications are provided in the /examples subdirectory. For new users, it is best to review the tutorial series of apps which are designed to progressively introduce API features.

  • C API - With doxygen-style API comments
  • To build documentation locally from sources, on Ubuntu run the following commands:
    • sudo apt-get install doxygen
    • doxygen doc/Doxygen_API/Doxyfile
  • What's New?
  • Projection APIs - A guide on coordinate systems, calibration information, and projection
  • Camera Spec Sheet - A brief overview of R200, F200 and SR300
  • Developer Notes - Several informal notes gathered during internal releases
  • OpenCV Tutorial - Getting started with librealsense using OpenCV
  • Stream Formats - A list of available stream resolutions and pixel formats provided by the supported devices.
  • Branching and Releases - Overview of live branches and major releases

Functionality

  1. Native streams: depth, color, infrared and fisheye.
  2. Synthetic streams: rectified images, depth aligned to color and vice versa, etc.
  3. Intrinsic/extrinsic calibration information.
  4. Majority of hardware-specific functionality for individual camera generations (UVC XU controls).
  5. Multi-camera capture across heterogeneous camera architectures (e.g. mix R200 and F200 in same application)
  6. Motion-tracking sensors acquisition (ZR300 only)

Compatible Devices

  1. RealSense R200
  2. RealSense F200
  3. RealSense SR300
  4. RealSense LR200
  5. RealSense ZR300

Compatible Platforms

The library is written in standards-conforming C++11 and relies only on the C89 ABI for its public interface. It is developed and tested on the following platforms:

  1. Ubuntu 14.04 and 16.04 LTS (GCC 4.9 toolchain)
  2. Windows 8.1 and Windows 10 (Visual Studio 2015 Update 2)
  3. Mac OS X 10.7+ (Clang toolchain)
  4. Ostro

Hardware Requirements

Developer kits containing the necessary hardware to use this library are available for purchase at this link. In addition, several consumer tablets and laptops with integrated cameras may also function, such as the HP Spectre x2 with R200.

Developer kits require USB 3.0. RealSense™ cameras do not provide backwards compatibility with USB 2.0. Not all USB host chipsets are compatible with this library, although it has been validated with recent generations of the Intel Host Controller chipset. An exhaustive list of incompatible hardware is not presently provided. On x86, a Haswell or newer architecture is recommended.

For small-form factor usages, this library has been demonstrated to work on the following boards: * Intel Compute Stick, BOXSTK1AW32SCR * MinnowBoard Max * Kangaroo MD2B * UP Board * Intel Joule

Integrations

The library has been integrated with a number of third-party components and operating systems. While most of these projects are not directly supported by the team, they are useful resources for users of this library.

Community Contributions

Additional language bindings (experimental, community maintained): * Python * Java (generated by JavaCPP)

Excellent blog-series by @teknotus covering the fundamentals of working with RealSense on Linux: * Intel RealSense camera on Linux * 3d Camera Controls * Infrared, calibration, point clouds * The long road to ubiquitous 3d cameras

License

Copyright 2016 Intel Corporation

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this project except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Repository Summary

Checkout URI https://github.com/IntelRealSense/librealsense.git
VCS Type git
VCS Version legacy
Last Updated 2018-11-04
Dev Status MAINTAINED
Released RELEASED

Packages

Name Version
librealsense 1.12.1

README

Intel® RealSense™ Cross Platform API

Platform Build Status
Linux and OS X Build Status
Windows Build status

This project is a cross-platform library (Linux, Windows, Mac) for capturing data from the Intel® RealSense™ F200, SR300, R200, LR200 and the ZR300 cameras. This effort was initiated to better support researchers, creative coders, and app developers in domains such as robotics, virtual reality, and the internet of things. Several often-requested features of RealSense™ devices are implemented in this project, including multi-camera capture.

Developer kits containing the necessary hardware to use this library are available for purchase at this link. This project is separate from the production software stack available in the Intel® RealSense™ SDK, namely that this library only encompasses camera capture functionality without additional computer vision algorithms.

The Intel® RealSense™ Cross Platform API is experimental and not an official Intel product. It is subject to incompatible API changes in future updates.

Table of Contents

Documentation

A comprehensive suite of sample and tutorial applications are provided in the /examples subdirectory. For new users, it is best to review the tutorial series of apps which are designed to progressively introduce API features.

  • C API - With doxygen-style API comments
  • To build documentation locally from sources, on Ubuntu run the following commands:
    • sudo apt-get install doxygen
    • doxygen doc/Doxygen_API/Doxyfile
  • What's New?
  • Projection APIs - A guide on coordinate systems, calibration information, and projection
  • Camera Spec Sheet - A brief overview of R200, F200 and SR300
  • Developer Notes - Several informal notes gathered during internal releases
  • OpenCV Tutorial - Getting started with librealsense using OpenCV
  • Stream Formats - A list of available stream resolutions and pixel formats provided by the supported devices.
  • Branching and Releases - Overview of live branches and major releases

Functionality

  1. Native streams: depth, color, infrared and fisheye.
  2. Synthetic streams: rectified images, depth aligned to color and vice versa, etc.
  3. Intrinsic/extrinsic calibration information.
  4. Majority of hardware-specific functionality for individual camera generations (UVC XU controls).
  5. Multi-camera capture across heterogeneous camera architectures (e.g. mix R200 and F200 in same application)
  6. Motion-tracking sensors acquisition (ZR300 only)

Compatible Devices

  1. RealSense R200
  2. RealSense F200
  3. RealSense SR300
  4. RealSense LR200
  5. RealSense ZR300

Compatible Platforms

The library is written in standards-conforming C++11 and relies only on the C89 ABI for its public interface. It is developed and tested on the following platforms:

  1. Ubuntu 14.04 and 16.04 LTS (GCC 4.9 toolchain)
  2. Windows 8.1 and Windows 10 (Visual Studio 2015 Update 2)
  3. Mac OS X 10.7+ (Clang toolchain)
  4. Ostro

Hardware Requirements

Developer kits containing the necessary hardware to use this library are available for purchase at this link. In addition, several consumer tablets and laptops with integrated cameras may also function, such as the HP Spectre x2 with R200.

Developer kits require USB 3.0. RealSense™ cameras do not provide backwards compatibility with USB 2.0. Not all USB host chipsets are compatible with this library, although it has been validated with recent generations of the Intel Host Controller chipset. An exhaustive list of incompatible hardware is not presently provided. On x86, a Haswell or newer architecture is recommended.

For small-form factor usages, this library has been demonstrated to work on the following boards: * Intel Compute Stick, BOXSTK1AW32SCR * MinnowBoard Max * Kangaroo MD2B * UP Board * Intel Joule

Integrations

The library has been integrated with a number of third-party components and operating systems. While most of these projects are not directly supported by the team, they are useful resources for users of this library.

Community Contributions

Additional language bindings (experimental, community maintained): * Python * Java (generated by JavaCPP)

Excellent blog-series by @teknotus covering the fundamentals of working with RealSense on Linux: * Intel RealSense camera on Linux * 3d Camera Controls * Infrared, calibration, point clouds * The long road to ubiquitous 3d cameras

License

Copyright 2016 Intel Corporation

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this project except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.