RealSense D435——相机内参获取

一、参考博客

• RealSense D435内参获取环境配置：Realsense D435i 在ubuntu上安装SDK与ROS Wrapper 运行ORB-SLAM2、RTAB和VINS-Mono
• 内参数字含义解析：添加链接描述

二、小贴士

2.1 遇到的问题及解决方案

问题一描述

– Could not find the required component ‘ddynamic_reconfigure’. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
“ddynamic_reconfigure” with any of the following names:

ddynamic_reconfigureConfig.cmake
ddynamic_reconfigure-config.cmake

Add the installation prefix of “ddynamic_reconfigure” to CMAKE_PREFIX_PATH
or set “ddynamic_reconfigure_DIR” to a directory containing one of the
above files. If “ddynamic_reconfigure” provides a separate development
package or SDK, be sure it has been installed.
Call Stack (most recent call first):
realsense/realsense2_camera/CMakeLists.txt:11 (find_package)

– Configuring incomplete, errors occurred!
See also “/home/csj/catkin_ws/build/CMakeFiles/CMakeOutput.log”.
See also “/home/csj/catkin_ws/build/CMakeFiles/CMakeError.log”.
Invoking “cmake” failed

问题一解决方法

sudo apt-get install ros-melodic-ddynamic-reconfigure 
# 二进制安装所缺库，其中melodic对应ubuntu18.04，其余ubuntu版本同理换成对应的即可。

问题二描述

Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Resource not found: rgbd_launch
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/csj/catkin_ws/src
ROS path [2]=/home/csj/kalibr_workspace/src/kalibr/aslam_cv/aslam_time
ROS path [3]=/home/csj/kalibr_workspace/src/kalibr/catkin_simple
ROS path [4]=/home/csj/kalibr_workspace/src/kalibr/aslam_offline_calibration/ethz_apriltag2

问题二解决方法

sudo apt-get install ros-melodic-rgbd-launch
# 安装rgbd_launch相关的功能包依赖，其中melodic对应ubuntu18.04，其余ubuntu版本同理换成对应的即可。