Intel RealSense LiDAR Camera D435/D430

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Today, we’re playing Intel RealSense Depth Camera D435 and Intel RealSense Depth Modules and Processors.

1. My Working Environment

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$ lsb_release -a             
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 24.04 LTS
Release:	24.04
Codename:	noble

$ uname -r                             
6.8.0-36-generic

2. Intel RealSense

2.1 Overview

Intel RealSense D435 Frontal

2.2 Hardware Specification

Refer to Tech Specs pdf.

3. lsusb and Demonstration

3.1 lsusb

Respectively, I got:

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$ lsusb | grep -i RealSense
Bus 010 Device 012: ID 8086:0b07 Intel Corp. RealSense D435
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$ lsusb | grep -i RealSense
Bus 010 Device 004: ID 8086:0ad4 Intel Corp. Intel(R) RealSense(TM) Depth Camera 430

3.2 realsense-viewer

3.2.1 Intel RealSense Depth Camera D435

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$ realsense-viewer
 05/07 15:16:42,021 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video0 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.0/video4linux/video0
 05/07 15:16:42,099 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video1 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.0/video4linux/video1
 05/07 15:16:42,101 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video2 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.0/video4linux/video2
 05/07 15:16:42,103 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video3 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.0/video4linux/video3
 05/07 15:16:42,104 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video4 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.3/video4linux/video4
 05/07 15:16:42,106 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video5 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.3/video4linux/video5
 05/07 15:16:42,108 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video6 realpath=/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2/1-2:1.0/video4linux/video6
 05/07 15:16:42,211 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video7 realpath=/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2/1-2:1.0/video4linux/video7
 05/07 15:16:42,498 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video0 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.0/video4linux/video0
 05/07 15:16:42,499 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video1 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.0/video4linux/video1
 05/07 15:16:42,500 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video2 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.0/video4linux/video2
 05/07 15:16:42,501 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video3 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.0/video4linux/video3
 05/07 15:16:42,502 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video4 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.3/video4linux/video4
 05/07 15:16:42,503 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video5 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.3/video4linux/video5
 05/07 15:16:42,504 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video6 realpath=/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2/1-2:1.0/video4linux/video6
 05/07 15:16:42,505 INFO [135660990636032] (backend-v4l2.cpp:753) Enumerating UVC video7 realpath=/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2/1-2:1.0/video4linux/video7
 05/07 15:16:42,506 INFO [135660990636032] (context.cpp:116) ... /sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-4/10-4:1.0/video4linux/video0
 05/07 15:16:42,506 INFO [135660990636032] (context.cpp:116) ... /sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2/1-2:1.0/video4linux/video6
 05/07 15:16:42,506 INFO [135660990636032] (context.cpp:128) Found 2 RealSense devices (0xff requested & 0xff from device-mask in settings)
...
realsense-viewer GUI Firmware Upgrading from within realsense-viewer GUI
D435 RealSense Viewer D435 Firmware Upgrading
Viewing Depth Image in 2D Viewing Depth Image in 3D
D435 Depth 2D D435 Depth 3D

3.2.2 Intel RealSense Depth Modules and Processors D430

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$ realsense-viewer  
 05/07 17:00:55,958 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video0 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-3/10-3:1.0/video4linux/video0
 05/07 17:00:56,036 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video1 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-3/10-3:1.0/video4linux/video1
 05/07 17:00:56,039 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video2 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-3/10-3:1.0/video4linux/video2
 05/07 17:00:56,041 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video3 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-3/10-3:1.0/video4linux/video3
 05/07 17:00:56,043 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video6 realpath=/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2/1-2:1.0/video4linux/video6
 05/07 17:00:56,146 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video7 realpath=/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2/1-2:1.0/video4linux/video7
 05/07 17:00:56,387 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video0 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-3/10-3:1.0/video4linux/video0
 05/07 17:00:56,389 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video1 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-3/10-3:1.0/video4linux/video1
 05/07 17:00:56,390 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video2 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-3/10-3:1.0/video4linux/video2
 05/07 17:00:56,391 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video3 realpath=/sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-3/10-3:1.0/video4linux/video3
 05/07 17:00:56,392 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video6 realpath=/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2/1-2:1.0/video4linux/video6
 05/07 17:00:56,393 INFO [133348205735936] (backend-v4l2.cpp:753) Enumerating UVC video7 realpath=/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2/1-2:1.0/video4linux/video7
 05/07 17:00:56,394 INFO [133348205735936] (context.cpp:116) ... /sys/devices/pci0000:40/0000:40:01.1/0000:41:00.0/0000:42:08.0/0000:46:00.3/usb10/10-3/10-3:1.0/video4linux/video0
 05/07 17:00:56,394 INFO [133348205735936] (context.cpp:116) ... /sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2/1-2:1.0/video4linux/video6
 05/07 17:00:56,394 INFO [133348205735936] (context.cpp:128) Found 2 RealSense devices (0xff requested & 0xff from device-mask in settings)
D430 Depth Camera 1 - 2D IR Sparse Pattern D430 Depth Camera 1 - 3D
D430 Depth 2D Sparse Pattern D430 Depth 3D
D430 Depth Camera 2 - 2D IR Sparse Pattern D430 Depth Camera 2 - 3D
D430 Depth 2D Sparse Pattern D430 Depth 3D
Firmware To Upgrade Firmware Upgraded Successfully
D430 Firmware To Upgrade D430 Firmware Upgraded Successfully

3.3 rs-hello-realsense