realsense

Spectacular AI C++ SDK for RealSense depth cameras

You can find the non-commercial C++ SDK for RealSense from https://github.com/SpectacularAI/sdk/releases.

For commercial licenses and version for other OS and CPU architectures, contact us at https://www.spectacularai.com/#contact.

Linux

Quick start

1. If you have not used the RealSense device before, run from the librealsense GitHub repository:

   ./scripts/setup_udev_rules.sh
   

2. Attach your RealSense D4XX or D3XX device to a USB3 port, using a USB3 cable

3. Unpack the Spectacular AI SDK archive

4. In the extracted directory for your platform, run the pre-compiled example binary:

   cd bin
   ./vio_jsonl
   # Now you should see rapidly flowing JSONL text
   # press Ctrl+C to exit
   

5. Run the Python example (in the bin directory)

   pip install matplotlib # install dependencies
   python vio_visu.py
   

6. Move the RealSense device around, avoid pointing at blank walls or covering the cameras. The plotted trajectory should follow the movement of the device.

7. Recording data (for troubleshooting)

   ./vio_jsonl /path/to/recording_folder
   

Installation as a library

1. Select where you want the library installed, e.g.,

   export MY_INSTALL_PREFIX=~/.local
   

2. Run make PREFIX=$MY_INSTALL_PREFIX install (or sudo make install)

3. Install librealsense https://github.com/IntelRealSense/librealsense

4. Ensure you have CMake

5. Build the vio_jsonl example using CMake

   make MY_INSTALL_PREFIX=~/.local example
   

Windows

Quick start

1. Unpack the sdk archive

2. Attach your RealSense device to a USB3 port, using a USB3 cable

3. (optional smoke test) Run the JSONL example:

   cd bin
   ./vio_jsonl.exe
   # Now you should see rapidly flowing JSONL text
   # press Ctrl+C to exit
   

Using as a library

First install the following tools if you don't already have them:

• Install Git for Windows https://git-scm.com
• Install Visual Studio Community 2019 https://visualstudio.microsoft.com/vs/community/
  • When launching, install dependencies for "Desktop Development with C++"
• Install CMake https://cmake.org/
• Install Python https://www.python.org/downloads/

Use Git Bash or similar for next steps.

Install librealsense from sources:

cd examples
git clone https://github.com/IntelRealSense/librealsense
mkdir librealsense/target
cd librealsense/target
cmake -G "Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=./install -DBUILD_EXAMPLES=OFF -DBUILD_GRAPHICAL_EXAMPLES=OFF ..
cmake --build . --config Release --target install
cd ../..

Now you are all set to use the VIO plugin. Let's compile the example to see it works:

mkdir target
cd target
cmake -G "Visual Studio 16 2019" -A x64 -DBUILD_MAPPER=OFF -DspectacularAI_realsensePlugin_DIR=../lib/cmake/spectacularAI -Drealsense2_DIR=./librealsense/target/install/lib/cmake/realsense2 ..
cmake --build . --config Release -- -m

Finally running the vio_jsonl.exe should give you the pose of the RealSense device in real time:

./Release/vio_jsonl.exe

Example output:

{"orientation":{"w":0.7068698348716513,"x":0.02283470213352065,"y":-0.011350438374188287,"z":0.7068838521820336},"position":{"x":-0.016812673347013137,"y":-0.0231306465130168,"z":-0.0013136235444364183},"time":61088.131537828,"velocity":{"x":-3.936320861854323e-06,"y":-1.8569468854259723e-06,"z":0.00031940298071614516}}

License information

See share/doc/ for copyright notices that must be included in all software using this SDK or librealsense.