# 9.1.1.2. RealSense D435 深度攝影機

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* **Overview**

[**Intel RealSense D435**](https://realsense.intel.com/depth-camera/#D415_D435) 是一款由 USB 供電的深度攝影機，由一對深度感測器，RGB 感測器和紅外線投影儀組成。它是創客和開發人員為其原型機開發添加深度感知功能的理想選擇。D435 深度攝影機最適合你的原型機開發。

* **規格**

| Items                                | Specifications                        |
| ------------------------------------ | ------------------------------------- |
| Use Environment                      | Indoor/Outdoor                        |
| RGB Sensor Resolution and Frame Rate | 1920 x 1080 at 30 fps                 |
| RGB Sensor FOV                       | 69.4°(H) x 42.5°(V) x 77°(D) (+/- 3°) |
| Depth Stream Output Resolution       | Up to 1280 x 720                      |
| Depth Stream Output Frame Rate       | Up to 90 fps                          |
| Depth Field of View (FOV)            | 85.2°(H) x 58°(V) x 94°(D) (+/- 3°)   |
| Minimum Depth Distance (Min-Z)       | 0.2m                                  |
| Maximum Range                        | Approx.10 meters                      |
| Dimension                            | 90 mm x 25 mm x 25 mm                 |
| Connectors                           | USB 3.0 Type - C                      |

* **安裝**

以下指令將安裝相關的 Intel RealSense D435 程式庫。

```
 $ 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-dev librealsense2-utils ros-kinetic-rgbd-launch
```

```
  $ cd ~/catkin_ws/src
  $ git clone https://github.com/intel-ros/realsense.git
  $ cd ~/catkin_ws && catkin_make
```

* **執行**

運行下列指令

```
$ roslaunch realsense2_camera rs_camera.launch
```

你可以使用 RViz 或 image\_view 來驗證驅動程序。您可以從應用程序頂部的下拉選單中選擇與 Intel RealSense D435 相關的數據 topic name。

```
$ rqt_image_view
```

* **參考資源**
  * [**Intel RealSense Depth Camera D435** ](https://realsense.intel.com/depth-camera/#D415_D435)
  * [**Realsense ROS package**](https://github.com/intel-ros/realsense)
