Difference between revisions of "TB3 Install ROS RealSense 2"

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* [http://wiki.ros.org/RealSense ROS RealSense]
 
* [http://wiki.ros.org/RealSense ROS RealSense]
 
   
 
   
−
= Prerequisites ==
+
= Prerequisites =
  
−
Skipping section 2 on prerequisites for now because it may refer to realsense and not realsense2. I can come back if I misunderstood.
+
* Skipped section 2 on [http://wiki.ros.org/RealSense#Installation_Prerequisites prerequisites]. I may have to come back to this later.
 +
 
 +
* [[TB3 Upgrading Realsense D415 Camera]]. It did not function properly in this environment without doing this.
  
 
= Installing librealsense2 =
 
= Installing librealsense2 =
Line 13: Line 15:
 
* [http://wiki.ros.org/librealsense2 ROS librealsense2]
 
* [http://wiki.ros.org/librealsense2 ROS librealsense2]
 
* [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md librealsense 2]
 
* [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md librealsense 2]
 +
 +
== Install ==
 +
 +
  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 apt-get install librealsense2-dkms
 +
      DKMS: install completed.
 +
 
 +
      Loading the modified modules into kernel... complete
 +
      Current status:
 +
      librealsense2-dkms, 1.3.4, 4.15.0-43-generic, x86_64: installed
 +
      mod: videodev version: realsense2-dkms
 +
      mod: uvcvideo version: 1.1.2.realsense-1.3.4
 +
      mod: hid_sensor_gyro_3d version: realsense2-dkms
 +
      mod: hid_sensor_accel_3d version: realsense2-dkms
 +
      Setting up librealsense2-udev-rules:amd64 (2.17.1-0~realsense0.372) ...
 +
      Processing triggers for shim-signed (1.33.1~16.04.1+13-0ubuntu2) ...
 +
      Secure Boot not enabled on this system.
 +
 +
  sudo apt-get install librealsense2-utils
 +
      Unpacking librealsense2-utils:amd64 (2.17.1-0~realsense0.372) ...
 +
      Processing triggers for man-db (2.7.5-1) ...
 +
      Processing triggers for libc-bin (2.23-0ubuntu10) ...
 +
      Processing triggers for doc-base (0.10.7) ...
 +
      Processing 1 added doc-base file...
 +
      Processing triggers for install-info (6.1.0.dfsg.1-5) ...
 +
      Processing triggers for libglib2.0-0:amd64 (2.48.2-0ubuntu4.1) ...
 +
      Setting up libdbus-1-dev:amd64 (1.10.6-1ubuntu3.3) ...
 +
      Setting up x11proto-record-dev (1.14.2-1) ...
 +
      Setting up libxtst-dev:amd64 (2:1.2.2-1) ...
 +
      Setting up libatspi2.0-dev (2.18.3-4ubuntu1) ...
 +
      Setting up libatk-bridge2.0-dev:amd64 (2.18.1-2ubuntu1) ...
 +
      Setting up libepoxy-dev:amd64 (1.3.1-1ubuntu0.16.04.2) ...
 +
      Setting up libglfw3:amd64 (3.1.2-3) ...
 +
      Setting up libgmpxx4ldbl:amd64 (2:6.1.0+dfsg-2) ...
 +
      Setting up libgmp-dev:amd64 (2:6.1.0+dfsg-2) ...
 +
      Setting up nettle-dev (3.2-1ubuntu0.16.04.1) ...
 +
      Setting up libgtk-3-dev:amd64 (3.18.9-1ubuntu3.3) ...
 +
      Setting up librealsense2:amd64 (2.17.1-0~realsense0.372) ...
 +
      Setting up librealsense2-utils:amd64 (2.17.1-0~realsense0.372) ...
 +
      Processing triggers for libc-bin (2.23-0ubuntu10) ...
 +
 +
Verified because the following include realsense string.
 +
  modinfo uvcvideo | grep "version:"
 +
      version:        1.1.2.realsense-1.3.4
 +
      srcversion:    C4FB5E9B212E9C39ED6CD7C
 +
 +
The optionally developer and debug packages must me installed for Step 3 to work. If note, *.cmake files cannot be found.
 +
 +
  sudo apt-get install librealsense2-dev
 +
 
 +
  sudo apt-get install librealsense2-dbg
 +
 +
== Tests ==
 +
 +
=== Capable viewer ===
 +
 +
  $ realsense-viewer
 +
      31/01 20:25:36,668 WARNING [140598239259200] (backend-hid.cpp:1162) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.22.auto
 +
      31/01 20:25:36,668 WARNING [140598239259200] (backend-hid.cpp:1162) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.10.auto
 +
 +
It works but I get the WARNING messages above. The following are not helpful.
 +
 +
* [https://github.com/IntelRealSense/librealsense/issues/1095 librealsense / ros-wrapper issue - Failed to read busnum/devnum. #1095]
 +
* [https://forums.intel.com/s/question/0D50P0000490WZKSA2/failed-to-read-busnumdevnum?language=en_US Failed to read busnum/devnum]
 +
* [https://forums.intel.com/s/question/0D50P0000490XPhSAM/cannot-run-ros-more-than-once-with-realsense-d415-and-intel-compute-stick?language=en_US Cannot run ROS more than once with D415]
 +
 +
=== Point Cloud ===
 +
 +
  $ rs-pointcloud
 +
 +
=== Simple interface ===
 +
 +
  $ rs-capture
 +
 +
      #### RS Frame Rate Printer ####
 +
      Depth[0]: 27.8/30 [FPS] || Color[0]: 15.0/30 [FPS] ||
 +
 +
=== Others ===
 +
 +
Look in the util package in the next section.
 +
 +
== Install Results ==
 +
 +
  $ sudo aptitude search librealsense2
 +
      [sudo] password for eepp:
 +
      i A librealsense2                  - Intel(R) RealSense(tm) Cross Platform API
 +
      i  librealsense2-dbg              - Intel(R) RealSense(tm) Camera Capture API
 +
      i  librealsense2-dev              - Intel(R) RealSense(tm) Camera Capture API
 +
      i  librealsense2-dkms              - Modified kernel modules for librealsense2
 +
      i A librealsense2-udev-rules        - Intel(R) RealSense(tm) Camera Capture API
 +
      i  librealsense2-utils            - Intel(R) RealSense(tm) Camera Capture API 
 +
 +
  $ dpkg -L librealsense2
 +
      /.
 +
      /usr
 +
      /usr/share
 +
      /usr/share/doc
 +
      /usr/share/doc/librealsense2
 +
      /usr/share/doc/librealsense2/copyright
 +
      /usr/share/doc/librealsense2/changelog.Debian.gz
 +
      /usr/lib
 +
      /usr/lib/x86_64-linux-gnu
 +
      /usr/lib/x86_64-linux-gnu/librealsense2.so.2.18.0
 +
      /usr/lib/x86_64-linux-gnu/librealsense2.so.2
 +
 +
  $ dpkg -L librealsense2-utils
 +
      /.
 +
      /usr
 +
      /usr/share
 +
      /usr/share/doc
 +
      /usr/share/doc/librealsense2-utils
 +
      /usr/share/doc/librealsense2-utils/copyright
 +
      /usr/share/doc/librealsense2-utils/changelog.Debian.gz
 +
      /usr/bin
 +
      /usr/bin/rs-terminal
 +
      /usr/bin/rs-depth
 +
      /usr/bin/realsense-viewer
 +
      /usr/bin/rs-multicam
 +
      /usr/bin/rs-distance
 +
      /usr/bin/rs-depth-quality
 +
      /usr/bin/rs-fw-logger
 +
      /usr/bin/rs-color
 +
      /usr/bin/rs-convert
 +
      /usr/bin/rs-enumerate-devices
 +
      /usr/bin/rs-rosbag-inspector
 +
      /usr/bin/rs-capture
 +
      /usr/bin/rs-sensor-control
 +
      /usr/bin/rs-save-to-disk
 +
      /usr/bin/rs-measure
 +
      /usr/bin/rs-pointcloud
 +
      /usr/bin/rs-record-playback
 +
      /usr/bin/rs-callback
 +
      /usr/bin/rs-post-processing
 +
      /usr/bin/rs-align
 +
      /usr/bin/rs-data-collect
 +
      /usr/bin/rs-software-device
 +
 +
== Debug ==
 +
 +
  $ lsusb
 +
    Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
 +
    Bus 001 Device 005: ID 04f3:2494 Elan Microelectronics Corp.
 +
    Bus 001 Device 004: ID 8087:0a2a Intel Corp.
 +
    Bus 001 Device 003: ID 0bda:58c2 Realtek Semiconductor Corp.
 +
    Bus 001 Device 002: ID 046d:c52b Logitech, Inc. Unifying Receiver
 +
    Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
 +
 +
The first line, "3.0 root hub", says we are working with USB3 on bus 002
 +
 +
After plugging in the D415
 +
 +
  $ lsusb
 +
    Bus 002 Device 002: ID 8086:0ad3 Intel Corp.
 +
    Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
 +
    Bus 001 Device 005: ID 04f3:2494 Elan Microelectronics Corp.
 +
    Bus 001 Device 004: ID 8087:0a2a Intel Corp.
 +
    Bus 001 Device 003: ID 0bda:58c2 Realtek Semiconductor Corp.
 +
    Bus 001 Device 002: ID 046d:c52b Logitech, Inc. Unifying Receiver
 +
    Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
 +
 +
 +
After plugging in the ZR300
 +
 +
  $ lsusb
 +
    Bus 002 Device 003: ID 8086:0ad0 Intel Corp.
 +
    Bus 002 Device 004: ID 8086:0acb Intel Corp.
 +
    Bus 002 Device 002: ID 0451:8025 Texas Instruments, Inc.
 +
    Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
 +
    Bus 001 Device 005: ID 04f3:2494 Elan Microelectronics Corp.
 +
    Bus 001 Device 004: ID 8087:0a2a Intel Corp.
 +
    Bus 001 Device 003: ID 0bda:58c2 Realtek Semiconductor Corp.
 +
    Bus 001 Device 002: ID 046d:c52b Logitech, Inc. Unifying Receiver
 +
    Bus 001 Device 006: ID 0451:8027 Texas Instruments, Inc.
 +
    Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
 +
 +
= Installing ROS Wrapper for the realsense2_camera =
 +
 +
== References ==
 +
 +
* [http://wiki.ros.org/realsense2_camera ROS realsense 2 camera]. This is the ROS reference page.
 +
* [https://github.com/intel-ros/realsense/#installation-instructions ROS RealSense2 Wrapper]. This contains the '''instructions followed''' below.
 +
 +
== Step 1: From Debian Packages: Install Latest SDK 2.0 ==
 +
 +
'''Done''' See [[TB3_Install_ROS_RealSense_2#Installing_librealsense2]] above. Installed from Debian Package.
 +
 +
* [https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md Install SDK 2.0]
 +
* [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages install the packages]
 +
 +
== Step 2: Install ROS Distribution ==
 +
 +
'''Done''' [[Sisters_Install_ROS]]
 +
 +
== Step 3: Install Intel RealSense ROS from Sources ==
 +
 +
Notice the optional note in Step 1.
 +
 +
  cd src/
 +
 +
  git clone https://github.com/intel-ros/realsense
 +
 +
  cd ..
 +
 +
  catkin_make
 +
 +
 +
POTENTIAL ALTERNATIVE TO ABOVE. Zip file is found here [https://github.com/intel-ros/realsense/releases Intel ROS Realsens releases]
 +
 +
[https://github.com/intel-ros/realsense/releases source zip]
 +
 +
  cd src
 +
 +
  mv ~/Downloads/realsense-2.1.3.zip .    SHOULD BE 2.1.4
 +
 +
  unzip realsense-2.1.3.zi
 +
 +
  cd ..
 +
 +
  catkin_make
 +
 +
plugged in the D415.
 +
 +
== Tests ==
 +
=== Test 1 ===
 +
 +
'''TBD''' need to figure out how to configure rviz
 +
 +
Terminal 1
 +
 +
  roscore
 +
 +
Terminal 2
 +
 +
  roslaunch realsense2_camera rs_camera.launch
 +
 +
Terminal 3 - rviz howto?
 +
 +
  rviz
 +
 +
or
 +
 +
  rosrun image_view image_view image:=/camera/color/image_raw
 +
 +
or
 +
 +
  rosrun image_view image_view image:=/camera/depth/image_rect_raw
 +
 +
Use the following for other topics
 +
 +
  rostopic list
 +
 +
=== Reference ===
 +
 +
* [http://wiki.ros.org/image_view ROS image_view]
 +
* [http://wiki.ros.org/rviz/UserGuide rviz Guide]
 +
 +
== Demo ==
 +
 +
'''Preconditions'''
 +
 +
plugged in the D415.
 +
 +
'''Terminal 1'''
 +
 +
  roscore
 +
 +
'''Terminal 2'''
 +
 +
This is really cool
 +
 +
  $ roslaunch realsense2_camera demo_pointcloud.launch
 +
 +
= Doc =
 +
 +
'''Fix Link'''
 +
 +
[https://www.intel.com/.../us/.../intel-realsense.../Intel-RealSense-SDK2-Github-Guide.pdf Intel-RealSense-SDK2-Github-Guide.pdf]
 +
find Intel-RealSense-SDK2-Github-Guide.pdf --

Latest revision as of 14:46, 28 February 2019

Reference

Prerequisites

  • Skipped section 2 on prerequisites. I may have to come back to this later.

Installing librealsense2

References

Install

 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 apt-get install librealsense2-dkms
     DKMS: install completed.
 
     Loading the modified modules into kernel... complete
     Current status:
     librealsense2-dkms, 1.3.4, 4.15.0-43-generic, x86_64: installed
     mod: videodev 			 version: realsense2-dkms
     mod: uvcvideo 			 version: 1.1.2.realsense-1.3.4
     mod: hid_sensor_gyro_3d 	 version: realsense2-dkms
     mod: hid_sensor_accel_3d 	 version: realsense2-dkms
     Setting up librealsense2-udev-rules:amd64 (2.17.1-0~realsense0.372) ...
     Processing triggers for shim-signed (1.33.1~16.04.1+13-0ubuntu2) ...
     Secure Boot not enabled on this system.

 sudo apt-get install librealsense2-utils
     Unpacking librealsense2-utils:amd64 (2.17.1-0~realsense0.372) ...
     Processing triggers for man-db (2.7.5-1) ...
     Processing triggers for libc-bin (2.23-0ubuntu10) ...
     Processing triggers for doc-base (0.10.7) ...
     Processing 1 added doc-base file...
     Processing triggers for install-info (6.1.0.dfsg.1-5) ...
     Processing triggers for libglib2.0-0:amd64 (2.48.2-0ubuntu4.1) ...
     Setting up libdbus-1-dev:amd64 (1.10.6-1ubuntu3.3) ...
     Setting up x11proto-record-dev (1.14.2-1) ...
     Setting up libxtst-dev:amd64 (2:1.2.2-1) ...
     Setting up libatspi2.0-dev (2.18.3-4ubuntu1) ...
     Setting up libatk-bridge2.0-dev:amd64 (2.18.1-2ubuntu1) ...
     Setting up libepoxy-dev:amd64 (1.3.1-1ubuntu0.16.04.2) ...
     Setting up libglfw3:amd64 (3.1.2-3) ...
     Setting up libgmpxx4ldbl:amd64 (2:6.1.0+dfsg-2) ...
     Setting up libgmp-dev:amd64 (2:6.1.0+dfsg-2) ...
     Setting up nettle-dev (3.2-1ubuntu0.16.04.1) ...
     Setting up libgtk-3-dev:amd64 (3.18.9-1ubuntu3.3) ...
     Setting up librealsense2:amd64 (2.17.1-0~realsense0.372) ...
     Setting up librealsense2-utils:amd64 (2.17.1-0~realsense0.372) ...
     Processing triggers for libc-bin (2.23-0ubuntu10) ...

Verified because the following include realsense string. 

 modinfo uvcvideo | grep "version:"
     version:        1.1.2.realsense-1.3.4
     srcversion:     C4FB5E9B212E9C39ED6CD7C

The optionally developer and debug packages must me installed for Step 3 to work. If note, *.cmake files cannot be found. 

 sudo apt-get install librealsense2-dev
 
 sudo apt-get install librealsense2-dbg

Tests

Capable viewer

 $ realsense-viewer
      31/01 20:25:36,668 WARNING [140598239259200] (backend-hid.cpp:1162) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.22.auto
      31/01 20:25:36,668 WARNING [140598239259200] (backend-hid.cpp:1162) Failed to read busnum/devnum. Custom HID Device Path: /sys/bus/platform/drivers/hid_sensor_custom/HID-SENSOR-2000e1.10.auto

It works but I get the WARNING messages above. The following are not helpful.

Point Cloud

 $ rs-pointcloud

Simple interface

 $ rs-capture 

     #### RS Frame Rate Printer ####
     Depth[0]: 27.8/30 [FPS] || Color[0]: 15.0/30 [FPS] ||

Others

Look in the util package in the next section.

Install Results

 $ sudo aptitude search librealsense2
     [sudo] password for eepp: 
     i A librealsense2                   - Intel(R) RealSense(tm) Cross Platform API 
     i   librealsense2-dbg               - Intel(R) RealSense(tm) Camera Capture API 
     i   librealsense2-dev               - Intel(R) RealSense(tm) Camera Capture API 
     i   librealsense2-dkms              - Modified kernel modules for librealsense2 
     i A librealsense2-udev-rules        - Intel(R) RealSense(tm) Camera Capture API 
     i   librealsense2-utils             - Intel(R) RealSense(tm) Camera Capture API  

 $ dpkg -L librealsense2
     /.
     /usr
     /usr/share
     /usr/share/doc
     /usr/share/doc/librealsense2
     /usr/share/doc/librealsense2/copyright
     /usr/share/doc/librealsense2/changelog.Debian.gz
     /usr/lib
     /usr/lib/x86_64-linux-gnu
     /usr/lib/x86_64-linux-gnu/librealsense2.so.2.18.0
     /usr/lib/x86_64-linux-gnu/librealsense2.so.2

 $ dpkg -L librealsense2-utils
     /.
     /usr
     /usr/share
     /usr/share/doc
     /usr/share/doc/librealsense2-utils
     /usr/share/doc/librealsense2-utils/copyright
     /usr/share/doc/librealsense2-utils/changelog.Debian.gz
     /usr/bin
     /usr/bin/rs-terminal
     /usr/bin/rs-depth
     /usr/bin/realsense-viewer
     /usr/bin/rs-multicam
     /usr/bin/rs-distance
     /usr/bin/rs-depth-quality
     /usr/bin/rs-fw-logger
     /usr/bin/rs-color
     /usr/bin/rs-convert
     /usr/bin/rs-enumerate-devices
     /usr/bin/rs-rosbag-inspector
     /usr/bin/rs-capture
     /usr/bin/rs-sensor-control
     /usr/bin/rs-save-to-disk
     /usr/bin/rs-measure
     /usr/bin/rs-pointcloud
     /usr/bin/rs-record-playback
     /usr/bin/rs-callback
     /usr/bin/rs-post-processing
     /usr/bin/rs-align
     /usr/bin/rs-data-collect
     /usr/bin/rs-software-device

Debug

 $ lsusb
   Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
   Bus 001 Device 005: ID 04f3:2494 Elan Microelectronics Corp. 
   Bus 001 Device 004: ID 8087:0a2a Intel Corp. 
   Bus 001 Device 003: ID 0bda:58c2 Realtek Semiconductor Corp. 
   Bus 001 Device 002: ID 046d:c52b Logitech, Inc. Unifying Receiver
   Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

The first line, "3.0 root hub", says we are working with USB3 on bus 002

After plugging in the D415 

 $ lsusb 
   Bus 002 Device 002: ID 8086:0ad3 Intel Corp. 
   Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
   Bus 001 Device 005: ID 04f3:2494 Elan Microelectronics Corp. 
   Bus 001 Device 004: ID 8087:0a2a Intel Corp. 
   Bus 001 Device 003: ID 0bda:58c2 Realtek Semiconductor Corp. 
   Bus 001 Device 002: ID 046d:c52b Logitech, Inc. Unifying Receiver
   Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub


After plugging in the ZR300 

 $ lsusb
   Bus 002 Device 003: ID 8086:0ad0 Intel Corp. 
   Bus 002 Device 004: ID 8086:0acb Intel Corp. 
   Bus 002 Device 002: ID 0451:8025 Texas Instruments, Inc. 
   Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
   Bus 001 Device 005: ID 04f3:2494 Elan Microelectronics Corp. 
   Bus 001 Device 004: ID 8087:0a2a Intel Corp. 
   Bus 001 Device 003: ID 0bda:58c2 Realtek Semiconductor Corp. 
   Bus 001 Device 002: ID 046d:c52b Logitech, Inc. Unifying Receiver
   Bus 001 Device 006: ID 0451:8027 Texas Instruments, Inc. 
   Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

Installing ROS Wrapper for the realsense2_camera

References

Step 1: From Debian Packages: Install Latest SDK 2.0

Done See TB3_Install_ROS_RealSense_2#Installing_librealsense2 above. Installed from Debian Package.

Step 2: Install ROS Distribution

Done Sisters_Install_ROS

Step 3: Install Intel RealSense ROS from Sources

Notice the optional note in Step 1. 

 cd src/

 git clone https://github.com/intel-ros/realsense

 cd ..

 catkin_make

POTENTIAL ALTERNATIVE TO ABOVE. Zip file is found here Intel ROS Realsens releases

source zip 

 cd src

 mv ~/Downloads/realsense-2.1.3.zip .    SHOULD BE 2.1.4

 unzip realsense-2.1.3.zi

 cd ..

 catkin_make

plugged in the D415.

Tests

Test 1

TBD need to figure out how to configure rviz

Terminal 1 

 roscore

Terminal 2 

 roslaunch realsense2_camera rs_camera.launch

Terminal 3 - rviz howto? 

 rviz

or 

 rosrun image_view image_view image:=/camera/color/image_raw

or 

 rosrun image_view image_view image:=/camera/depth/image_rect_raw

Use the following for other topics 

 rostopic list

Reference

Demo

Preconditions

plugged in the D415.

Terminal 1 

 roscore

Terminal 2

This is really cool 

 $ roslaunch realsense2_camera demo_pointcloud.launch

Doc

Fix Link

Intel-RealSense-SDK2-Github-Guide.pdf find Intel-RealSense-SDK2-Github-Guide.pdf --

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