{"id":1084,"date":"2020-01-20T13:57:13","date_gmt":"2020-01-20T04:57:13","guid":{"rendered":"https:\/\/ahnbk.com\/?p=1084"},"modified":"2020-01-20T14:07:29","modified_gmt":"2020-01-20T05:07:29","slug":"realsense-d400-%ec%8b%9c%eb%a6%ac%ec%a6%88-%ec%b5%9c%ec%a0%81-%ec%82%ac%ec%9a%a9-%eb%b0%a9%eb%b2%95","status":"publish","type":"post","link":"https:\/\/ahnbk.com\/?p=1084","title":{"rendered":"Realsense D400 \uc2dc\ub9ac\uc988 \ucd5c\uc801 \uc0ac\uc6a9 \ubc29\ubc95"},"content":{"rendered":"\n<p>Reference<\/p>\n\n\n\n<ul><li><a href=\"https:\/\/dev.intelrealsense.com\/docs\/tuning-depth-cameras-for-best-performance\">https:\/\/dev.intelrealsense.com\/docs\/tuning-depth-cameras-for-best-performance<\/a><\/li><li><a href=\"https:\/\/dev.intelrealsense.com\/docs\/intel-realsensetm-d400-series-calibration-tools-user-guide\">https:\/\/dev.intelrealsense.com\/docs\/intel-realsensetm-d400-series-calibration-tools-user-guide<\/a><\/li><li><a href=\"https:\/\/dev.intelrealsense.com\/docs\/optical-filters-for-intel-realsense-depth-cameras-d400\">https:\/\/dev.intelrealsense.com\/docs\/optical-filters-for-intel-realsense-depth-cameras-d400<\/a><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img data-attachment-id=\"1087\" data-permalink=\"https:\/\/ahnbk.com\/?attachment_id=1087\" data-orig-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2020\/01\/image.png?fit=1164%2C480&amp;ssl=1\" data-orig-size=\"1164,480\" data-comments-opened=\"1\" data-image-meta=\"{&quot;aperture&quot;:&quot;0&quot;,&quot;credit&quot;:&quot;&quot;,&quot;camera&quot;:&quot;&quot;,&quot;caption&quot;:&quot;&quot;,&quot;created_timestamp&quot;:&quot;0&quot;,&quot;copyright&quot;:&quot;&quot;,&quot;focal_length&quot;:&quot;0&quot;,&quot;iso&quot;:&quot;0&quot;,&quot;shutter_speed&quot;:&quot;0&quot;,&quot;title&quot;:&quot;&quot;,&quot;orientation&quot;:&quot;0&quot;}\" data-image-title=\"image\" data-image-description=\"\" data-image-caption=\"\" data-medium-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2020\/01\/image.png?fit=1000%2C412&amp;ssl=1\" data-large-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2020\/01\/image.png?fit=525%2C216&amp;ssl=1\" decoding=\"async\" loading=\"lazy\" width=\"525\" height=\"216\" src=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2020\/01\/image.png?resize=525%2C216&#038;ssl=1\" alt=\"\" class=\"wp-image-1087\" srcset=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2020\/01\/image.png?w=1164&amp;ssl=1 1164w, https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2020\/01\/image.png?resize=1000%2C412&amp;ssl=1 1000w, https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2020\/01\/image.png?resize=768%2C317&amp;ssl=1 768w, https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2020\/01\/image.png?w=1050&amp;ssl=1 1050w\" sizes=\"(max-width: 767px) 89vw, (max-width: 1000px) 54vw, (max-width: 1071px) 543px, 580px\" data-recalc-dims=\"1\" \/><\/figure>\n\n\n\n<p>RGB-D \uce74\uba54\ub77c \uc911, \ucd5c\uadfc \ub9ce\uc774 \uc0ac\uc6a9\ub418\uace0 \uc788\ub294 \uc778\ud154 \ub9ac\uc5bc\uc13c\uc2a4 D400 \uc2dc\ub9ac\uc988 \uc911 D435 \ubaa8\ub378\uc744 \uc0ac\uc6a9\ud558\uace0 \uc788\ub2e4. \ub300\ubd80\ubd84 ROS\ub97c \uc774\uc6a9\ud574\uc11c \uc0ac\uc6a9\ud558\ub294\ub9cc\ud07c \uadf8\ub0e5 \uae30\ubcf8 \uc635\uc158\uc744 \uc8fc\ub85c \uc0ac\uc6a9\ud558\uace0 \uc788\uc5c8\ub294\ub370,  \ucd5c\uadfc \uce74\uba54\ub77c \uad00\ub828 \uc790\ub8cc\ub97c \ucc3e\uc544\ubcf4\ub2e4\uac00 \uc704\uc758 \ub9c1\ud06c\uc758 \ubb38\uc11c\ub97c \ubcf4\uac8c \ub418\uc5c8\ub2e4.<\/p>\n\n\n\n<p>\uacb0\ub860\ubd80\ud130 \uc54c\uc544\ubcf4\uba74, \uce74\uba54\ub77c\uc758 \uc2a4\ud399\uc744 \uace0\ub824\ud558\uc5ec \uadf8\uc5d0 \ud574\ub2f9\ud558\ub294 \uc635\uc158\uc744 \uc120\ud0dd\ud574\uc11c \uc0ac\uc6a9\ud558\ub294 \uac83\uc774 \uac00\uc7a5 \uc88b\uc740 \ud488\uc9c8\uc758 Depth \ub370\uc774\ud130\ub97c \uc5bb\uc744\uc218 \uc788\ub2e4\ub294 \uc598\uae30\ub2e4. <\/p>\n\n\n\n<hr class=\"wp-block-separator\"\/>\n\n\n\n<ol><li>Depth\uc758 \ud574\uc0c1\ub3c4\ub294 848&#215;480\uc73c\ub85c \ud55c\ub2e4. (D415\uc758 \uacbd\uc6b0 1280&#215;720) \uadf8 \uc774\uc678\uc758 \ud574\uc0c1\ub3c4\ub97c \uc120\ud0dd\ud558\uba74 \uc800 \ud574\uc0c1\ub3c4\ub97c \uae30\uc900\uc73c\ub85c \ud558\uc5ec \uc2a4\ucf00\uc77c\ub9c1\ud55c \ud6c4 \ucd9c\ub825\uc744 \ub0b4\ubcf4\ub0b4\ub294 \ub4ef \ud558\ub2e4. \ub9cc\uc57d \uc0ac\uc6a9\ud558\ub824\ub294 \uc54c\uace0\ub9ac\uc998\uc758 \uc131\ub2a5\uc744 \uace0\ub824\ud558\uc5ec \ud574\uc0c1\ub3c4\ub97c \ub0ae\ucdb0\uc57c \ud55c\ub2e4\uba74, \uc800 native \ud574\uc0c1\ub3c4\ub85c \ubc1b\uc740 \ud6c4, \ud6c4\ucc98\ub9ac\ub97c \ud1b5\ud574 \ud574\uc0c1\ub3c4\ub97c \ub0ae\ucd94\ub294 \uac83\uc744 \ub354 \ucd94\ucc9c\ud55c\ub2e4\uace0 \ud55c\ub2e4. (\ud750\uc74c~)<\/li><li>\uce74\uba54\ub77c\ub97c \uc0ac\uc6a9\ud558\ub294 \ud658\uacbd\uc758 \uc870\uba85\uc744 \uac1c\uc120\ud55c\ub2e4. (\uc870\uba85 \uc870\uac74\uc774 \uc88b\uc744\uc218\ub85d Depth \ub370\uc774\ud130\uc758 \ud488\uc9c8\ub3c4 \uc88b\uc544\uc9c4\ub2e4. <\/li><li>\uc0ac\uc6a9\ud558\ub824\ub294 \ubb3c\uccb4\uc758 \uc704\uce58\ub97c \uce74\uba54\ub77c\uc5d0 \uac00\ub2a5\ud55c \uac00\uae5d\uac8c \ud558\ub3c4\ub85d \ub178\ub825\ud55c\ub2e4. D400 \uc2dc\ub9ac\uc988 \ubaa8\ub378\uc758 \uacbd\uc6b0 IR \ud328\ud134\uad11\uc744 \uc0ac\uc6a9\ud558\uc5ec Depth \uc815\ubcf4\ub97c \uacc4\uc0b0\ud558\ub294\ub9cc\ud07c, \uac70\ub9ac\uac00 \uba40\uc5b4\uc9c0\uba74 \uba40\uc5b4\uc9c8\uc218\ub85d \uc624\ucc28\ub294 \uae30\ud558\uae09\uc218\uc801\uc73c\ub85c \uc2ec\ud574\uc9c4\ub2e4. <\/li><li>\uc5ec\ub7ec \uac1c\uc758 \uce74\uba54\ub77c\ub97c \uc0ac\uc6a9\ud55c\ub2e4. (\uc774\uac74 \uc880 \uc774\ud574\uac00 \uc548\uac00\ub294\ub370&#8230;) \uc554\ud2bc FOV\ub97c \ucee4\ubc84\ud558\uae30 \uc704\ud574\uc11c \uc5ec\ub7ec \uac1c\uc758 \uce74\uba54\ub77c\ub97c \uc0ac\uc6a9\ud558\ub294 \uac83\uc744 \ucd94\ucc9c\ud55c\ub2e4. D400 \uc2dc\ub9ac\uc988\uc758 \uacbd\uc6b0 \uc5ec\ub7ec\uac1c\uc758 \uce74\uba54\ub77c\ub97c \uc0ac\uc6a9\ud574\ub3c4 \uc0c1\uad00\uc774 \uc5c6\uace0, \ub9cc\uc57d \ud558\ub4dc\uc6e8\uc5b4 \ub3d9\uae30\ud654 \uae30\ub2a5\uc744 \uc0ac\uc6a9\ud560 \uacbd\uc6b0, \uce74\uba54\ub77c\uc5d0 \uc704\uce58\ud55c \ubcc4\ub3c4\uc758 \ucee4\ub125\ud130\ub97c \uc0ac\uc6a9\ud558\uc5ec \uc5f0\uacb0\ud558\uba74, master-slave \uad00\uacc4\ub97c \uc124\uc815\ud558\uc5ec \uc0ac\uc6a9 \uac00\ub2a5\ud558\ub2e4.<\/li><li>post-processing\ub97c \uc801\uadf9 \ud65c\uc6a9\ud55c\ub2e4. <\/li><\/ol>\n\n\n\n<p>\ub300\ub7b5 \uc774 \uc815\ub3c4\uc778\ub4ef.<\/p>\n\n\n\n<p>realsense_ros (<a href=\"https:\/\/github.com\/IntelRealSense\/realsense-ros\">https:\/\/github.com\/IntelRealSense\/realsense-ros<\/a>) \ud328\ud0a4\uc9c0\ub97c \uc0ac\uc6a9\ud558\ub294 \uacbd\uc6b0, \uc704 \uc0ac\ud56d\uc744 \uace0\ub824\ud558\uc5ec \uc0ac\uc6a9\ud55c\ub2e4\uba74,  \ub2e4\uc74c\uacfc \uac19\uc774 \uc0ac\uc6a9\ud558\uba74 \ub428.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$ roslaunch realsense2_camera rs_camera.launch enable_pointcloud:=true color_width:=848 color_height:=480 color_fps:=60 depth_width:=848 depth_height:=480 depth_fps:=60 infra_width:=848 infra_height:=480 infra_fps:=60 align_depth:=true filters:=\"spatial<\/code><\/pre>\n\n\n\n<p>\ubb3c\ub860 roslaunch\uc758 arguments\ub97c \uc0ac\uc6a9\ud558\uba74 \uc880\ub354 \uc774\uc058\uac8c \ub9cc\ub4e4\uc218\ub3c4 \uc788\uc744\ub4ef.<\/p>\n\n\n\n<p>\ub367:<\/p>\n\n\n\n<p>\ud604\uc7ac librealsense2 \ud328\ud0a4\uc9c0\uc758 \ucd5c\uc2e0 \ubc84\uc804\uc740 \ucee4\ub110 5.0\ub300\uc5d0\uc11c \uc0ac\uc6a9\ud560 \ub54c, Pointcloud\ub97c \uc81c\ub300\ub85c \uc77d\uc5b4\uc624\uc9c0 \ubabb\ud568. \ub530\ub77c\uc11c \ubb38\uc81c\uac00 \ud574\uacb0\ub420\ub54c\uae4c\uc9c0 2.30 \ubc84\uc804\uc744 \uc0ac\uc6a9\ud558\ub294 \uac83\uc744 \uad8c\uc7a5.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Reference https:\/\/dev.intelrealsense.com\/docs\/tuning-depth-cameras-for-best-performance https:\/\/dev.intelrealsense.com\/docs\/intel-realsensetm-d400-series-calibration-tools-user-guide https:\/\/dev.intelrealsense.com\/docs\/optical-filters-for-intel-realsense-depth-cameras-d400 RGB-D \uce74\uba54\ub77c \uc911, \ucd5c\uadfc \ub9ce\uc774 \uc0ac\uc6a9\ub418\uace0 \uc788\ub294 \uc778\ud154 \ub9ac\uc5bc\uc13c\uc2a4 D400 \uc2dc\ub9ac\uc988 \uc911 D435 \ubaa8\ub378\uc744 \uc0ac\uc6a9\ud558\uace0 \uc788\ub2e4. \ub300\ubd80\ubd84 ROS\ub97c \uc774\uc6a9\ud574\uc11c \uc0ac\uc6a9\ud558\ub294\ub9cc\ud07c \uadf8\ub0e5 \uae30\ubcf8 \uc635\uc158\uc744 \uc8fc\ub85c \uc0ac\uc6a9\ud558\uace0 \uc788\uc5c8\ub294\ub370, \ucd5c\uadfc \uce74\uba54\ub77c \uad00\ub828 \uc790\ub8cc\ub97c \ucc3e\uc544\ubcf4\ub2e4\uac00 \uc704\uc758 \ub9c1\ud06c\uc758 \ubb38\uc11c\ub97c \ubcf4\uac8c \ub418\uc5c8\ub2e4. \uacb0\ub860\ubd80\ud130 \uc54c\uc544\ubcf4\uba74, \uce74\uba54\ub77c\uc758 \uc2a4\ud399\uc744 \uace0\ub824\ud558\uc5ec \uadf8\uc5d0 \ud574\ub2f9\ud558\ub294 \uc635\uc158\uc744 \uc120\ud0dd\ud574\uc11c \uc0ac\uc6a9\ud558\ub294 \uac83\uc774 \uac00\uc7a5 \uc88b\uc740 \ud488\uc9c8\uc758 Depth &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/ahnbk.com\/?p=1084\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Realsense D400 \uc2dc\ub9ac\uc988 \ucd5c\uc801 \uc0ac\uc6a9 \ubc29\ubc95&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"advanced_seo_description":"","jetpack_seo_html_title":"","jetpack_seo_noindex":false,"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"footnotes":"","_jetpack_memberships_contains_paid_content":false},"categories":[12],"tags":[261,262,264,263],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"jetpack_shortlink":"https:\/\/wp.me\/p2wXSW-hu","jetpack-related-posts":[],"jetpack_likes_enabled":false,"_links":{"self":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/1084"}],"collection":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1084"}],"version-history":[{"count":3,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/1084\/revisions"}],"predecessor-version":[{"id":1088,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/1084\/revisions\/1088"}],"wp:attachment":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1084"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1084"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1084"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}