Intel Realsense D435i
Connect the D435i Intel Realsense depth cameras to the ARC navigation messaging system (NMS) for distance detection and mapping.
+ How To Add This Control To Your Project (Click to Expand)
- Make sure you have the latest version of ARC installed.
- Select the Get button in this page to download the archive file.
- Double click the downloaded archive file to execute installer.
- The installer will add this control to ARC.
- Load ARC and press the Project -> Add Control button from the menu.
- Choose the Navigation category tab.
- Press the Intel Realsense D435i icon to add the control to your project.
Connect the D435i Intel Realsense camera to the ARC Navigation Messaging System (NMS) for distance detection and mapping. This should also work with other Intel RealSense depth camera models because the FOV and parameters are used from the device.
1) Select the device by the serial number. This allows multiple Intel Realsense devices to be added to a project.
2) START/STOP button to connect that connects to the RealSense device.
3) Log window for status and errors.
The Image Align tab allows selecting the area of the image that you wish to detect for the point cloud. For example, having the detection too low will result in detecting the floor at a close distance. Ideally, set the bar high enough to avoid detecting the floor.
1) Adjust the top of the detected image range.
2) Adjust the bottom of the detected image range.
3) detected image range is highlighted in purple.
1) Offset of the T265 from the center of the robot. The positive number is toward the rear, a negative number is toward the front from the center of the robot. The sensor must sit aligned with the center of the robot, not toward the left or right. The sensor must face 0 degrees heading.
2) Sensor resolution during initialization. If the values are to be changed from the default, obtain them from the Intel RealSense viewer. Changing these values may be necessary if using a different sensor than the D435i. Set both width & height to 0 for auto-size, which isn't the most efficient for performance.
3) The number of depth pixels to skip when processing the depth data. This is useful for lower CPU PCs or when high-resolution depth is not required. Since there is a limited field of view (FOV) on the sensor, it may not be necessary to process every depth pixel. If the sensor resolution is 1280x720, the CPU would be processing 921,600 depth points for every scan of the specified framerate. At 1280x720 @ 15 FPS, that's 13,824,000 depth points per second. If the Skip Scan Points for X & Y are set to 10 for that resolution/fps, the CPU would only need to process 9,216 depth points per scan (or 138,240 per second).
The editor will recommend a value for the best balance between performance and detection based on the sensor FOV.
4) The camera video from the RealSense can be pushed into a selected Camera Device. In the selected camera device, choose CUSTOM as the device type. This will accept the video feed from this robot skill. Ensure START is pressed on the selected camera device as well.
This skill will create 4 global variables that can be referenced by scripts.
$D435IsRunning - status of the D435 robot skill if it is connected or not to the sensor.
$D435FurthestDistanceCM - furthest distance detected
$D435FurthestDistanceDegree - furthest degree of the furthest distance CM variable.
$D435NearestDistanceCM - nearest distance detected
$D435NearestDistanceDegree - nearest degree of the nearest distance CM variable.
ARC Navigation Messaging System
This skill is part of the ARC navigation messaging system. It is encouraged to read more about the messaging system to understand available skills HERE. This skill is in level #3 group #1 of in the diagram below. This skill contributes telemetry positioning to the cartesian positioning channel of the NMS. Combining this skill with Level #3 Group #2 skills for obstacle avoidance. And for Level #1, The Navigator works well.