[Others]
- Auto Exposure:
-
카메라에서는 자동적으로 노출을 조절하게 되는데 자동으로 설정하게 되면 야외에서 위치 추정시 자동 노출 조절 때문에 이미지들 간의 matching 에 어려움이 생기게 됨
-
따라서, realsense-viewer를 통해서 auto exposure를 disable 로 설정
-
Reference Site: https://github.com/IntelRealSense/realsense-ros
[Installation]
(1) Install realsense2_camera related with ROS distribution
# Example of ROS "melodic" version
$ sudo apt-get install ros-melodic-realsense2-camera
(2) Install librealsense SDK
Reference Site: https://github.com/IntelRealSense/realsense-ros/releases
Releases · IntelRealSense/realsense-ros
# Dependencies
$ sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
$ sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
# Unzip librealsense.zip
$ cd librealsense
$ mkdir build
$ cd build
$ cmake .. -DCMAKE_BUILD_TYPE=Release
$ sudo make uninstall
$ make clean
$ time make -j8
$ sudo make install
IMU 센서 데이터를 사용하기 전에, UDEV 규칙 파일을 먼저 해당 local 위치에 다운 받아둠
sudo wget -O /etc/udev/rules.d/99-realsense-libusb.rules <https://raw.githubusercontent.com/IntelRealSense/librealsense/master/config/99-realsense-libusb.rules>
그 뒤에 rs_camera.launch file 중 다음과 같은 argument들을 변경!
<!-- IMU Options are: [none, copy, linear_interpolation] -->
<arg name="gyro_fps" default="200"/>
<arg name="accel_fps" default="63"/>
<arg name="enable_gyro" default="true"/>
<arg name="enable_accel" default="true"/>
<arg name="unite_imu_method" default="linear_interpolation"/>
그러면 D435i에 있는 IMU 데이터를 사용할 수 있다.
realsense SDK에서는 compressed image를 publish 할 수 있음
이를 활용하기 위해서 사전에 필요한 package 및 라이브러리를 순차적으로 설치 및 빌드시키면 사용할 수 있게됨
$ sudo apt-get update
$ sudo apt-get install libjpeg-dev libpng-dev libtiff-dev libturbojpeg0-dev
$ cd ./${WORKSPACE}/src/
$ git clone <https://github.com/ros-perception/image_common.git>
$ cd /image_common
$ git checkout ${ROS_DIST}-devel
$ cd ../../
$ catkin build
$ cd ./${WORKSPACE}/src/
$ git clone <https://github.com/ros-perception/image_transport_plugins.git>
$ cd /image_transport_plugins
$ git checkout ${ROS_DIST}-devel
$ cd ../../
$ catkin build
[Topics]
Intel T265 Tracking Camera related launch file
$ roscd realsense2_camera
$ cd launch
$ roslaunch rs_t265.launch
Intel D435i & D455i RGB-D Camera
$ roscd realsense2_camera
$ cd launch
$ roslaunch rs_camera.launch
D435 & D455 camera topic
Settings of camera
$ roscd realsense2_camera
$ cd launch/includes
$ gedit nodelet.launch.xml
##### Default settings in nodelet.launch.xml file #####
# Depth related
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="enable_depth" default="true"/>
# Infra related
<arg name="infra_width" default="640"/>
<arg name="infra_height" default="480"/>
<arg name="enable_infra" default="false"/>
<arg name="enable_infra1" default="false"/>
<arg name="enable_infra2" default="false"/>
<arg name="infra_rgb" default="false"/>
# Color related
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="enable_color" default="true"/>
# Built-in IMU related
<arg name="gyro_fps" default="200"/>
<arg name="accel_fps" default="63"/>
<arg name="enable_gyro" default="false"/>
<arg name="enable_accel" default="false"/>
<arg name="unite_imu_method" default="linear_interpolation"/> \\
<!-- Options are: [none, copy, linear_interpolation] -->
# High ACC emitter off
<arg name="json_file_path" default="$(find ~)/high_acc_emitter_off.json"/>
# Reset prior camera when restart launch file
<arg name="initial_reset" default="false"/>
[High_acc_emitter_off.json]
{
"aux-param-autoexposure-setpoint": "1536",
"aux-param-colorcorrection1": "0.298828",
"aux-param-colorcorrection10": "-0",
"aux-param-colorcorrection11": "-0",
"aux-param-colorcorrection12": "-0",
"aux-param-colorcorrection2": "0.293945",
"aux-param-colorcorrection3": "0.293945",
"aux-param-colorcorrection4": "0.114258",
"aux-param-colorcorrection5": "-0",
"aux-param-colorcorrection6": "-0",
"aux-param-colorcorrection7": "-0",
"aux-param-colorcorrection8": "-0",
"aux-param-colorcorrection9": "-0",
"aux-param-depthclampmax": "65536",
"aux-param-depthclampmin": "0",
"aux-param-disparityshift": "0",
"controls-autoexposure-auto": "True",
"controls-autoexposure-manual": "8500",
"controls-color-autoexposure-auto": "True",
"controls-color-autoexposure-manual": "166",
"controls-color-backlight-compensation": "0",
"controls-color-brightness": "0",
"controls-color-contrast": "50",
"controls-color-gain": "64",
"controls-color-gamma": "300",
"controls-color-hue": "0",
"controls-color-power-line-frequency": "3",
"controls-color-saturation": "64",
"controls-color-sharpness": "50",
"controls-color-white-balance-auto": "True",
"controls-color-white-balance-manual": "4600",
"controls-depth-gain": "16",
"controls-laserpower": "150",
"controls-laserstate": "off",
"ignoreSAD": "0",
"param-amplitude-factor": "0",
"param-autoexposure-setpoint": "1536",
"param-censusenablereg-udiameter": "6",
"param-censusenablereg-vdiameter": "7",
"param-censususize": "6",
"param-censusvsize": "7",
"param-depthclampmax": "65536",
"param-depthclampmin": "0",
"param-depthunits": "1000",
"param-disableraucolor": "0",
"param-disablesadcolor": "0",
"param-disablesadnormalize": "0",
"param-disablesloleftcolor": "0",
"param-disableslorightcolor": "1",
"param-disparitymode": "0",
"param-disparityshift": "0",
"param-lambdaad": "751",
"param-lambdacensus": "6",
"param-leftrightthreshold": "10",
"param-maxscorethreshb": "2893",
"param-medianthreshold": "796",
"param-minscorethresha": "4",
"param-neighborthresh": "108",
"param-raumine": "6",
"param-rauminn": "3",
"param-rauminnssum": "7",
"param-raumins": "2",
"param-rauminw": "2",
"param-rauminwesum": "12",
"param-regioncolorthresholdb": "0.785714",
"param-regioncolorthresholdg": "0.565558",
"param-regioncolorthresholdr": "0.985323",
"param-regionshrinku": "3",
"param-regionshrinkv": "0",
"param-robbinsmonrodecrement": "25",
"param-robbinsmonroincrement": "2",
"param-rsmdiffthreshold": "1.65625",
"param-rsmrauslodiffthreshold": "0.71875",
"param-rsmremovethreshold": "0.809524",
"param-scanlineedgetaub": "13",
"param-scanlineedgetaug": "15",
"param-scanlineedgetaur": "30",
"param-scanlinep1": "155",
"param-scanlinep1onediscon": "160",
"param-scanlinep1twodiscon": "59",
"param-scanlinep2": "190",
"param-scanlinep2onediscon": "507",
"param-scanlinep2twodiscon": "493",
"param-secondpeakdelta": "647",
"param-texturecountthresh": "0",
"param-texturedifferencethresh": "1722",
"param-usersm": "1",
"param-zunits": "1000",
"stream-depth-format": "Z16",
"stream-fps": "30",
"stream-height": "480",
"stream-ir-format": "R8L8",
"stream-width": "640"
}
[Others]
카메라에서는 자동적으로 노출을 조절하게 되는데 자동으로 설정하게 되면 야외에서 위치 추정시 자동 노출 조절 때문에 이미지들 간의 matching 에 어려움이 생기게 됨
따라서, realsense-viewer를 통해서 auto exposure를 disable 로 설정
high emitter json 빨간 점들이 생기지 않게 되는데 그 이유는?
compressed 가 나타나지 않는 경우? 이게 opencv 와 cv_bridge version를 낮추니 된다고 하는데 뭔 차이가 있는지?
<arg name="align_depth" default="false"/>
설치 버전 및 맞춰야 하는지?
IR camera?