hao_camera_launch

这是一个包含单目、双目、RGBD相机功能包的工作空间

How to build

git clone git clone [email protected]:haohaoalt/hao_camera_launch.git
cd hao_camera_launch 
catkin_make

01 usb_cam

source devel setup.bash
roslaunch usb_cam usb_cam-test.launch

framerate：类型-int；默认值-30；帧率
brightness：类型-int；默认值-32；亮度-0255
saturation：类型-int；默认值-32；饱和度-0255
contrast：类型-int；默认值-32；对比度-0255
sharpness：类型-int；默认值-22；清晰度-0255
autofocus：类型-bool；默认值-false；自动对焦
focus：类型-int；默认值-51；焦点（非自动对焦状态下有效）
camera_info_url：类型-string；默认值- —；摄像头校准文件路径
camera_name：类型-string；默认值-“head_camera”；摄像头名字\

02 realsense camera(L515,D435I,D455)

2-1 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 
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

2-2 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；

2-3 realsence设置

# 摄像头所支持的分辨率，对应的格式和频率即可看到
rs-enumerate-devices 

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

rosbag record -O apriltag.bag /image
rosrun topic_tools throttle messages /camera/color/image_raw 4.0 /image
roslaunch realsense2_camera rs_camera.launch

04 数据集录制

4-1 mono

rosbag record -O mono_xiang.bag /camera/camera_info /camera/image_raw /camera/image_raw/compressed

4-2 stereo

rosbag record -O stereo.bag /camera/color/camera_info /camera/color/image_raw /camera/color/image_raw/compressed /camera/aligned_depth_to_color/image_raw

4-3 rgbd

sudo apt-get install ros-melodic-rgbd-launch
# 启动相机
roslaunch realsense2_camera rs_rgbd.launch

rosbag record -O rgbd_d455.bag /camera/color/image_raw /camera/color/image_raw/compressed /camera/aligned_depth_to_color/image_raw

rostopic echo /camera/color/camera_info

height: 720
width: 1280
D: [-0.054022323340177536, 0.06301917135715485, -0.00014683687186334282, 0.0007357324357144535, -0.019964847713708878]
K: [634.971923828125, 0.0, 644.484130859375, 0.0, 634.470458984375, 361.453125, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [634.971923828125, 0.0, 644.484130859375, 0.0, 0.0, 634.470458984375, 361.453125, 0.0, 0.0, 0.0, 1.0, 0.0]

height: 480
width: 640
D: [-0.054022323340177536, 0.06301917135715485, -0.00014683687186334282, 0.0007357324357144535, -0.019964847713708878]
K: [380.983154296875, 0.0, 322.6904602050781, 0.0, 380.6822509765625, 240.8718719482422, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [380.983154296875, 0.0, 322.6904602050781, 0.0, 0.0, 380.6822509765625, 240.8718719482422, 0.0, 0.0, 0.0, 1.0, 0.0]

录制record

rosbag record -O 1026d455.bag /camera/color/camera_info /camera/color/image_raw /camera/aligned_depth_to_color/image_raw /camera/color/image_rect_color /camera/depth/image_rect_raw