ubuntu1804配置OAK-D相机的ROS以及depthai_ros环境
自己的环境：
ubuntu18.04、ros-melodic
1下载depthai安装包
这里下载的目前最新的版本:depthai_2.19.1_amd64.deb
下载地址：地址
2安装
参考这个链接:https://docs.oakchina.cn/en/latest/pages/Advanced/ros_test_depthai_cpp_library.html#ros1-noetic-depthai-ros
2.1更新 usb 规则
echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
sudo udevadm control --reload-rules && sudo udevadm trigger
2.2配置安装包，这里没有用官方给的安装命令，直接dpkg -i
sudo dpkg -i depthai_2.19.1_amd64.deb
2.3安装opencv,已经安装好了，4.5版本
2.4安装rviz-imu-plugin，ros版本改成自己的
sudo apt install ros-melodic-rviz-imu-plugin -y
2.5设置程序，ros版本改成自己的
mkdir -p dai_ws/src
cd dai_ws/src
git clone https://gitee.com/oakchina/depthai-ros.git
cd ..
source /opt/ros/melodic/setup.bash
rosdep install --from-paths src --ignore-src -r -y
catkin_make
source devel/setup.bash
2.6 执行示例运行双目相机对应的launch文件
cd dai_ws
source devel/setup.bash
roslaunch depthai_examples stereo_node.launch
2.7 查看相机内参和外参
- 在启动相机驱动后使用命令行查看
rostopic echo -n 1 /stereo_publisher/left/camera_info
rostopic echo -n 1 /stereo_publisher/right/camera_info
-n 1指消息只打印1次
参数如下
D:相机的畸变系数，在SLAM中一般用到前5位[k1,k2,p1,p2,k3]
K:相机内参矩阵
R：相机旋转矩阵
P:相机投影矩阵，矩阵中第4个数字59.60097983474698对应ORB-SLAM3配置文件中的bf参数
header:
seq: 0
stamp:
secs: 1668563459
nsecs: 222877835
frame_id: "oak_left_camera_optical_frame"
height: 720
width: 1280
distortion_model: "rational_polynomial"
D: [6.860053539276123, 8.262731552124023, -0.0022835570853203535, -0.0021555486600846052, -33.7902717590332, 6.535381317138672, 9.392735481262207, -34.76184844970703]
K: [800.8717041015625, 0.0, 630.91015625, 0.0, 800.8717041015625, 313.4556884765625, 0.0, 0.0, 1.0]
R: [0.9999741911888123, 8.463647827738896e-05, 0.00718728918582201, -7.144125265767798e-05, 0.9999983310699463, -0.0018361477414146066, -0.007187432609498501, 0.0018355868523940444, 0.9999724626541138]
P: [799.4793090820312, 0.0, 629.921875, 59.60097983474698, 0.0, 799.4793090820312, 289.2037658691406, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
---
- 参考链接使用另一种方法获得
python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/ depthai
git clone https://github.com/luxonis/depthai-python
# 运行该命令的时候把双目的节点关掉，不然会有冲突
python3 depthai-python/examples/calibration/calibration_reader.py
附一下自己获得的参数，畸变参数大的让我有点震惊，，，
RGB Camera Default intrinsics...
[[3101.96142578125, 0.0, 1907.9949951171875], [0.0, 3101.96142578125, 1062.4305419921875], [0.0, 0.0, 1.0]]
3840
2160
RGB Camera Default intrinsics...
[[3101.96142578125, 0.0, 1907.9949951171875], [0.0, 3101.96142578125, 1062.4305419921875], [0.0, 0.0, 1.0]]
3840
2160
RGB Camera resized intrinsics... 3840 x 2160
[[3.10196143e+03 0.00000000e+00 1.90799500e+03]
[0.00000000e+00 3.10196143e+03 1.06243054e+03]
[0.00000000e+00 0.00000000e+00 1.00000000e+00]]
RGB Camera resized intrinsics... 4056 x 3040
[[3.27644678e+03 0.00000000e+00 2.01531970e+03]
[0.00000000e+00 3.27644678e+03 1.50144226e+03]
[0.00000000e+00 0.00000000e+00 1.00000000e+00]]
LEFT Camera Default intrinsics...
[[800.8717041015625, 0.0, 630.91015625], [0.0, 800.8717041015625, 353.4556884765625], [0.0, 0.0, 1.0]]
1280
800
LEFT Camera resized intrinsics... 1280 x 720
[[800.8717041 0. 630.91015625]
[ 0. 800.8717041 313.45568848]
[ 0. 0. 1. ]]
RIGHT Camera resized intrinsics... 1280 x 720
[[799.47930908 0. 629.921875 ]
[ 0. 799.47930908 289.20376587]
[ 0. 0. 1. ]]
LEFT Distortion Coefficients...
k1: 6.860053539276123
k2: 8.262731552124023
p1: -0.0022835570853203535
p2: -0.0021555486600846052
k3: -33.7902717590332
k4: 6.535381317138672
k5: 9.392735481262207
k6: -34.76184844970703
s1: 0.0
s2: 0.0
s3: 0.0
s4: 0.0
τx: 0.0
τy: 0.0
RIGHT Distortion Coefficients...
k1: -6.954834461212158
k2: 72.10208129882812
p1: 0.002446624916046858
p2: -0.0010923939989879727
k3: -56.510074615478516
k4: -7.038227558135986
k5: 71.96546173095703
k6: -55.74861145019531
s1: 0.0
s2: 0.0
s3: 0.0
s4: 0.0
τx: 0.0
τy: 0.0
RGB FOV 68.7938003540039, Mono FOV 71.86000061035156
LEFT Camera stereo rectification matrix...
[[ 9.92582395e-01 1.52826154e-03 8.94126118e+00]
[-2.66677967e-03 9.98922586e-01 -2.37076286e+01]
[-8.97451186e-06 2.29198615e-06 1.00491614e+00]]
RIGHT Camera stereo rectification matrix...
[[ 9.94311104e-01 1.53092320e-03 8.86955389e+00]
[-2.67142421e-03 1.00066234e+00 1.53122947e-02]
[-8.99014212e-06 2.29597793e-06 1.00497154e+00]]
Transformation matrix of where left Camera is W.R.T right Camera's optical center
[[ 9.99980092e-01 -5.61705092e-03 2.88275210e-03 -7.45497704e+00]
[ 5.62753947e-03 9.99977529e-01 -3.64335626e-03 -4.23889123e-02]
[-2.86222226e-03 3.65950656e-03 9.99989212e-01 -3.22463810e-02]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]
Transformation matrix of where left Camera is W.R.T RGB Camera's optical center
[[ 9.99982953e-01 3.72270565e-03 4.49601887e-03 -3.76168180e+00]
[-3.75821535e-03 9.99961615e-01 7.91575387e-03 -1.48493946e-02]
[-4.46637813e-03 -7.93251581e-03 9.99958575e-01 -1.99031860e-01]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]