Realsense-CPP

This is a realsense library which can be used to access realsense cameras (D435 and D435i) and use it with opencv

Installation

1. Clone the repository:

   git clone https://github.com/ayushkumar8340/Realsense-CPP.git

2. Building instructions:

   In this project we are using a docker environment for setting up things. The code is on local machine and we create a docker environment to run the code. The current directory is mounted live onto the docker environment so we can make changes and build the code in real-time.

   cd Realsense-CPP/
   sudo chmod +x build_docker.sh
   sudo chmod +x run_docker.sh
   ./buid_docker.sh
   ./run_docker.sh realsense
   mkdir build
   cd build
   cmake ..
   make -j4

Running Demo Scripts

1. This is a demo for getting real-time camera feed and showing it on the screen using opencv window.

./demo/realsense_cam_feed

2. This demo is for getting the depth of a particular point in the image frame.

./demo/realsense_depth

Steps for integration of realsense c++ lib with a code:

1. Adding the library to your code.
   1. Copy the Realsense-CPP folder to the target project folder.
   2. In the CMakeLists.txt of your project add this line:

      add_subdirectory(Realsense-CPP)

   3. The name of the library is realsense_lib. To link to your code add the following line to your CMakeLists.txt:

      target_link_library(<your-executable-name> PUBLIC realsense_lib)

   4. Build the project
2. APIs / Usage instructions:
   1. Include "realsense.h"
   2. Make an object of Realsense class.
   3. InputDevConfig is a structure which holds all the configurations for the camera. It has a function setDefault() which sets the default value for the variables.
   4. Setup the Realsense class by calling setupInputDevice() which initializes all the required sensors.
   5. To enable IMU of the camera change the #define D435i to false in realsense.h
   6. In while loop run startStreaming().
   7. Call function like getColourFrame(), getDepthFrame() and getIMUData() to get various data from the camera.
   8. Various Data types are defined for colour frame , depth frame and imu frame check the frames.h file for more info