☎

First attempt with RealSense D435i

Installed the drivers for RealSense D435i, and realsense-view works directly.

Installation under Ubuntu 16.04 with Linux kernel 4.15.0-43. I followed the steps as instructed in Intel’s installation walkthrough:

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
sudo rm -f /etc/apt/sources.list.d/realsense-public.list
sudo apt-get update
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dev

Afterwards, I rebooted my laptop and started realsense-viewer, and it just worked. Data collected through the GUI is shown below.

Depth image of my cat, captured by the RealSense D435i Color image of my cat, captured by the RealSense D435i

A picture of my cat, captured with the RealSense D435i and its GUI, realsense-viewer. First: depth image. Second: ‚regular’ color image. Notice on the second image the little red dots on the table leg, which indicate at least a structured light approach built into the D435i.

Some errors did occur though.

No accelerometer data

This problem manifests in two ways.

Firstly, when recording a rosbag through the realsense-viewer GUI, the /device_0/sensor_2/Accel_0/imu/data topic has 0 messages. The /device_0/sensor_2/Gyro_0/imu/data topic contains sensor_msgs/Imu messages, but the linear_acceleration field is always set to [0 0 0].

The second way shows up in the realsense-viewer GUI. When toggling on the „Motion Module” in realsense-viewer, two windows should appear, displaying Gyro and Accel stream visualizations. The Accel window always displays an error: „⚠️ No Frames Received!” on a white background. Sometimes, the Accel window does not display at regular width, but is reduced to a really narrow window. Widening the window shows the same thing as a „regularly sized” window.

Mysterious device error

When toggling off the „Motion Module” in realsense-viewer, an error message appears sometimes:

Backend in rs2_stop(sensor:0x1a0ab80):
Failed to enable_sensor /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1:1.5/0003:8086:0B3A.0008/HID-SENSOR-2000e1.4.auto/enable_sensor Last Error: No such file or directory

Not sure what this means. Not sure about the conditions to get this error.

I inspected the exported configuration file custom.json to see if there is any setting about the IMU settings. I found nothing yet. Just assuming this is a fluke for now.

To do next time