Setting up a Camera

Setup Intel® RealSense™ Depth Cameras (x64)

Warning

To use the D435i or D455 depth camera, most x64 systems, including standard installations of Ubuntu 18.04 or 20.04, will require installing the required camera firmware, as well as building and activating kernel modules to complete the setup of the Intel RealSense SDK 2.0 features required by SLAMcore software.

Install the Camera Firmware

Follow the instructions provided by Intel RealSense to install one of the camera firmware versions 5.12.3.0, 5.12.6.0, 5.12.7.100, 5.12.8.200, 5.12.11.0, 5.12.12.100, 5.12.13.50 or 5.12.14.50.

Install RealSense SDK 2.0

Next check whether Intel RealSense’s DKMS kernel drivers package supports your system’s Ubuntu kernel version on their package installation site.

You may check your kernel version by running this command in a terminal window:

$ uname -r

For Supported Kernel Versions

Install the pre-built packages following the details on the RealSense package installation site.

For Unsupported Kernel Versions

Build and install the librealsense2 module package from source.

In the step to “Download/Clone librealsense GitHub repository”, use version v2.38.1. To clone, use the command:

$ git clone https://github.com/IntelRealSense/librealsense.git --branch v2.38.1

To download the sources without cloning, use the command:

$ wget https://github.com/IntelRealSense/librealsense/archive/v2.38.1.zip && unzip ./v2.38.1.zip

Warning

Ensure that your Intel RealSense camera is unplugged when running the scripts. Reboot your system when the patch is completed.

RealSense Setup Verification

After following the setup instructions it is important to make sure that everything has been set up correctly. Firstly, you should confirm the camera firmware version matches the one required.

  1. Start up the realsense-viewer program.

  2. Connect your RealSense camera.

  3. Find the firmware version of the camera:

    • Go to Info (in the connected cameras side panel) > Firmware Version

    • Make sure it corresponds to one of the required versions: 5.12.3.0, 5.12.6.0, 5.12.7.100, 5.12.8.200, 5.12.11.0, 5.12.12.100, 5.12.13.50 or 5.12.14.50. This may be displayed in the form 05.12.12.100

Now confirm that all of the data streams are being received correctly from the camera.

  1. Start all three of the streams: Stereo Module, RGB Camera and Motion Module and ensure the 2D view is selected.

  2. On each panel, click the “Show frame metadata” icon.

  3. Check that none of the panel display the message “Per-frame metadata is not enabled at the OS level! Please follow the installation guide for details.”.

    This message on any of the panels indicates that the kernel module patches are not correctly installed or activated. If this happens, check that the patches were installed correctly according to the instructions for your kernel version.

If the message still appears, contact SLAMcore support at support@slamcore.com providing the following details:

  • your system’s Ubuntu kernel version.

  • the camera firmware version.

  • the link to the kernel patching instructions used.

  • the patch version used from Intel RealSense’s repository (if applicable).

Setup Intel® RealSense™ D435i (NVIDIA Jetson)

Warning

The use of the D455 camera with the NVIDIA Jetson platforms is not supported.

Install the Camera Firmware

Follow the instructions provided by Intel RealSense to install the camera firmware version 5.12.3.0, 5.12.6.0, 5.12.7.100, 5.12.8.200, 5.12.11.0, 5.12.12.100, 5.12.13.50 or 5.12.14.50.

Install RealSense SDK 2.0

Install the pre-built packages following the details on the RealSense package installation site.

Register Camera

To register your camera you will need the serial number, this can be found on the camera or the box. Alternatively you can connect your camera and run

$ rs-enumerate-devices | grep Serial

Two serial numbers will be displayed, take the “Serial Number”.

Login to your SLAMcore account at the SLAMcore Portal.

  1. Click on the Manage Cameras option.

  2. Click on the Activate New Camera link.

  3. Select your camera type (RealSense D435i, RealSense D455, Mynteye S).

  4. Enter your camera serial number.

  5. Click Add Camera.