From 8a053a59c2f739a5a880d8a02568fa89cf09b176 Mon Sep 17 00:00:00 2001 From: Nicola Piga Date: Tue, 9 May 2023 16:51:48 +0200 Subject: [PATCH] Add instructions on how to use a D405 in the README.md --- README.md | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/README.md b/README.md index 84b0ac9..8df4dc7 100644 --- a/README.md +++ b/README.md @@ -143,6 +143,32 @@ clipPlanes (0.2 10.0) :warning: **WARNING:** the user might have to change the parameters `depthResolution` and `rgbResolution`. These parameters change depending on the firmware version installed on the used camera. +### How to use a RealSense D405 + +To use this model of camera you can follow the same instructions above with the following **notable** differences: + +- this camera does not have an active emitter system, hence it should be disabled as not supported; +- this camera does not have separate RGB and depth sensors - it only has a depth sensor that also provides RGB images - hence only the depth resolution should be set; +- this camera does not need active software-based alignment per construction - see [here](https://github.com/IntelRealSense/librealsense/issues/11784#issuecomment-1539851902) - hence the alignment should be disabled; +- this camera is a short-range camera, hence it is suggested to provide an adequately low lower bound for the clipping planes. + +Considering the above, a possible configuration file might be the following: + +```ini +device RGBDSensorWrapper +subdevice realsense2 +name /depthCamera + +[SETTINGS] +depthResolution (640 480) # <-- Same resolution as the rgbResolution +framerate 30 +alignmentFrame None # <-- alignment set to None + # <-- 'enableEmitter' removed as not supported + +[HW_DESCRIPTION] +clipPlanes (0.01 10.0) # <-- lower bound for clipping planes set to 0.01 meters +``` + ### How to use a RealSense D435i :construction: UNDER CONSTRUCTION :construction: