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reaslsense.txt
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reaslsense.txt
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# realsence安装及标定
## 01 源码安装
```
git clone https://github.com/IntelRealSense/librealsense
cd librealsense
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
################
如果错误：sudo service udev restart
若果在容器：注释了/etc/init.d/udev中的下面内容
#if [ ! -w /sys ]; then
# log_warning_msg "udev does not support containers, not started"
# exit 0
#fi
###################
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install
```
注意L515接入USB3.0端口
进入librealsense/build/examples/capture，测试效果：
`./rs-capture`
或直接使用realsense-viewer工具查看效果：
`realsense-viewer`
## 02 安装RealSense-Ros
```
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ..
catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
```
note:
rs_camera.launch中添加
```
<rosparam>
/camera/motion_module/global_time_enabled: true
/camera/l500_depth_sensor/global_time_enabled: true
/camera/rgb_camera/global_time_enabled: true
</rosparam>
```
取消开启rviz的warning
使用rviz可视化，注意L515接入USB3.0端口
新打开一个终端2，通过ros节点启动
`roslaunch realsense2_camera rs_camera.launch`
新打开一个终端3，运行rviz，实现点云可视化`rviz`
可根据应用需求修改launch文件；
`rostopic list` 指令查看当前所有的主题，启动前启动后对比，得出输出topic；
```
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/metadata
/camera/extrinsics/depth_to_color
/camera/l500_depth_sensor/parameter_descriptions
/camera/l500_depth_sensor/parameter_updates
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/clicked_point
/diagnostics
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static
```
rosbag record 指令录制指定topic的bag包，实现点云数据保存。
## 03 标定
常见的标定板有：aprilgrid、checkerboard、circlegrid
开启相机
```
roslaunch realsense2_camera rs_camera.launch
//使用12*9棋盘格
rosrun camera_calibration cameracalibrator.py --size 11x8 --square 0.03 image:=/camera/color/image_raw camera:=/camera/color --no-service-check
```
标定结果中camera matrix为相机内参矩阵；distortion为畸变系数矩阵；rectification为矫正矩阵，一般为单位矩阵；projection为外部世界坐标系到像平面的投影矩阵。
使用kalibar进行标定
```
sudo apt-get install python3-setuptools python3-rosinstall ipython3 libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-noetic-vision-opencv ros-noetic-image-transport-plugins ros-noetic-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python3-scipy python3-git python3-pip libtbb-dev libblas-dev liblapack-dev python3-catkin-tools libv4l-dev
sudo pip install python-igraph
```
sudo apt-get install -y python3-dev python-pip python-scipy \
python-matplotlib ipython python-wxgtk4.0 python-tk python-igraph
rosrun kalibr kalibr_calibrate_cameras --bag /home/hao007/camera_calib.bag --topics /camera/color/image_raw --models pinhole-radtan --target /home/hao007/aprilgrid.yaml