I was really impressed by the new RealSense depth cameras but the field of view is still a bit narrow. So I made a kit for multiple RealSense in ROS ([available here](
https://www.ebay.com/itm/282916774120?ssPageName=STRK:MESELX:IT&_trksid=p3984.m1558.l2649)). It comes with two RealSense D415 but can easily be expanded up to 6 cameras. The field of view is essentially doubled to ~140 x 42. If all six cameras are used, the kit gives full cylindrical coverage. It's a good way to get started with immersive virtual reality.
My goal here was to make this as close to plug-and-play as possible. There is just one simplified launch file for all X cameras, and another to display the point clouds in RViz. The tf frames are launched automatically, as well.
One caveat is that >2 cameras requires additional USB3 busses for higher resolutions/fps.
This is a shot of my kitchen with 2x D415:
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).%20It%20comes%20with%20two%20RealSense%20D415%20but%20can%20easily%20be%20expanded%20up%20to%206%20cameras.%20The%20field%20of%20view%20is%20essentially%20doubled%20to%20~140%20x%2042.%20If%20all%20six%20cameras%20are%20used,%20the%20kit%20gives%20full%20cylindrical%20coverage.%20It's%20a%20good%20way%20to%20get%20started%20with%20immersive%20virtual%20reality.%0A>%20%0A>%20My%20goal%20here%20was%20to%20make%20this%20as%20close%20to%20plug-and-play%20as%20possible.%20There%20is%20just%20one%20simplified%20launch%20file%20for%20all%20X%20cameras,%20and%20another%20to%20display%20the%20point%20clouds%20in%20RViz.%20The%20tf%20frames%20are%20launched%20automatically,%20as%20well.%0A>%20%0A>%20One%20caveat%20is%20that%20>2%20cameras%20requires%20additional%20USB3%20busses%20for%20higher%20resolutions/fps.%0A>%20%0A>%20This%20is%20a%20shot%20of%20my%20kitchen%20with%202x%20D415:%0A>%20%0A>%20!%5Bkitchen%7C690x392%5D(upload://5YvMBVItOtONxWJ2guI6OwVosJf.jpg)%0A>%20%0A>%20%0A>%20%0A>%20%0A>%20%0A>%20---%0A>%20%5BVisit%20Topic%5D(https://discourse.ros.org/t/a-kit-for-multiple-realsense-d400-sensors-in-ros/4411/1)%20or%20reply%20to%20this%20email%20to%20respond.%0A>%20%0A>%20%0A>%20If%20you%20do%20not%20want%20to%20receive%20messages%20from%20ros-users%20please%20use%20the%20unsubscribe%20link%20below.%20If%20you%20use%20the%20one%20above,%20you%20will%20stop%20all%20of%20ros-users%20from%20receiving%20updates.%0A>%20______________________________________________________________________________%0A>%20ros-users%20mailing%20list%0A>%20ros-users@lists.ros.org%0A>%20http://lists.ros.org/mailman/listinfo/ros-users%0A>%20Unsubscribe:%20<http://lists.ros.org/mailman//options/ros-users>%0A>%20%0A>%20 "Reply to this message")
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