Usage

The driver class is deisgned to run the intel realsense cameras. It is speciically designed to run L151 and D435i. it may run with other models but some functionaity may break down.

System design:

  • Driver: The lowest level that communicates with the cameras.

  • Device: Runs multi-threads to retrieve images then stores them into circular buffers.

  • Recorder: Runs the whole system to collect and store data.

Running the system

In order to run the applications, you should be in the intel-realsense-devices directory.

To initialize device:

import intel_realsense_devices
print(f'current version of the library is {intel_realsense_devices.__version__}')
from intel_realsense_devices.device import Device
device = Device(config_filename = "YOUR CONFIG YAML FILE")
device.init()

Your config yaml file must contain a serial number and channels parameter in order to avoid using the default values. Please see configuration_file.rst for more information on structuring your config file.

IMU settings

Since the gyroscope and accelerometer collect data at a higher frequency the size of the circular buffer will need to be accounted for.

For the D435i camera:

  • Acceleration Output Data Rate 62.5Hz/250Hz

  • Gyro Output Data Rate at 200Hz/400Hz

For the L515 camera:

  • Acceleration Output Data Rate 100Hz/200Hz/400Hz

  • Gyroscope Output Data Rate 100Hz/200Hz/400Hz

Recording Data

All the functionality to collect data and store it in a file is already done for you in the record script. In order to run it, you will need a config file and a h5py file to save data into.

To collect the data run the following script:

# IT MUST BE IN THIS ORDER
python recorder.py "YOUR CONFIG FILE" "YOUR H5PY FILE"
# my example
python recorder.py "test_files\config_L151_f1320305.yaml" "test_files\test.h5py"

The data will be stored into a H5PY file where the dataset names are [‘accel’, ‘color’, ‘depth’, ‘frameN’, ‘gyro’, ‘infrared’].