Intel® RealSense™ SDK 2.0的安装

1、注册服务器的公钥:

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

 2、将服务器添加到存储库列表中：

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

 3、安装库

sudo apt-get install librealsense2-dkms

sudo apt-get install librealsense2-utils

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 查看realsense-viewer:

realsense-viewer

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安装realsense2-camera

sudo apt-get install ros-noetic-realsense2-camera

启动相机节点

roslaunch realsense2_camera rs_camera.launch

可以通过

rostopic list

查看都有哪些话题 

启动相机点云

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

启动rviz

与深度值进行对齐： 

roslaunch realsense2_camera rs_camera.launch align_depth:=true

可以使用rqt工具进行查看

rosrun rqt_image_view rqt_image_view

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 也可以下载源码进行编译

GitHub - IntelRealSense/realsense-ros at ros1-legacy

git clone -b ros1-legacy https://github.com/IntelRealSense/realsense-ros.git

注：如果不指定分支，它会下载ros2这个主分支，切记~ 

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IMU标定：

IMU Calibration Tool for Intel® RealSense™ Depth Camera

IMU标定工具：

  

 GitHub - IntelRealSense/librealsense: Intel® RealSense™ SDK

脚本文件在 tools/rs-imu-calibration 文件夹中

标定部分后续再更新。。。默认使用了出厂的内参，获取内参的方法如下

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RealSense 获取相机内参数的方法： 

rs-sensor-control

 

 

Principal Point         : 329.578, 232.509
Focal Length            : 603.086, 603.26
Distortion Model        : Brown Conrady
Distortion Coefficients : [0.15858,-0.492513,-0.00218088,0.00021294,0.4519]

Translation Vector : [0.0127626,-0.00280832,-0.00553363]
Rotation Matrix    : [0.999902,0.012413,-0.00643062]
                   : [-0.0121827,0.999324,0.0346926]
                   : [0.00685691,-0.0346109,0.999377]

 相机的内参矩阵：

K = fx		s		x0
   	  0		fy		y0
	  0		0		1

fx,fy为焦距，一般情况下，二者相等。
x0,y0为主坐标（相对于成像平面）。
s为坐标轴倾斜参数，理想情况下为0。

import pyrealsense2 as rs
pipeline = rs.pipeline()
config = rs.config() config.enable_stream(rs.stream.color,640,480,rs.format.rgb8,30)
cfg = pipeline.start(config)
profile = cfg.get_stream(rs.stream.color)
intr = profile.as_video_stream_profile().get_intrinsics()
print(intr)

[ 640x480  p[329.578 232.509]  f[603.086 603.26]  Brown Conrady [0.15858 -0.492513 -0.00218088 0.00021294 0.4519] ]

Principal Point         : 329.578, 232.509
Focal Length            : 603.086, 603.26
Distortion Model        : Brown Conrady
Distortion Coefficients : [0.15858,-0.492513,-0.00218088,0.00021294,0.4519]

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 RealSense检测图像质量

rs-depth-quality