Usage of RealSense 200 or D400 versus ZED Camera setup

[trgiman]

Dear @yankailab,

I had brief look into the code of OpenKai. I have noticed, that it maybe used with RealSense200 camera installed on Intel AeroBoard (which included FCU with ArduPilot). However I noticed, that it is using older librealsense.Correct? It means I would not be able to use it with newer librealsense for D400 series. Or you would rather recommend to utilize ZED Camera + Nvidia Jetson + PX4FCU with Ardupilot setup? Thank you for your recommendations. I know it is not an issue, but I did not find other place to ask. Thank you.

[yankailab]

Hi @trgiman
We use the new librealsense2 which should only supports Intel RealSense D400 series, and we tested with D415 and D435, both works fine. Could you provide more detailed information on how you couldn't make it work with D400 series?

We would recommend using RealSense + Jetson + Ardupilot for e.g. obstacle avoidance. ZED was also Okay but RealSense provides better performance in dark place or completely whiten place without patterns e.g. wall.

Cheers

[trgiman]

Hi @yankailab,

Thank you very much for this information. I have been working only with R200 so far using Intel Aero Board. Currently waiting for delivery of Jetson TX2 related UAV HW. It helps to know, that D400 series would perform better in dark (this is what I will need actually). My goal among others is to be able to eliminate compass usage by using OpenKAI

1.Did vision odometry performed well even without compass? From Ardupilot forums I found out, that yaw information is provided as well?

2.D400 series and Jatson TX2. I do have got limited understanding on this topic. Since I thought, that ZED camera SDK is better suitable for Jetson TX2, than RealSense2 SDK. At least from what I read trough Jetson TX2 tutorials and also RedTail Nvidia project.

Anyway thank you for your recommendations.

[bys1123]

@yankailab Thanks for the information, I was struggled on D435 or ZED, (especially ZED is expensive)