# depth_img_handle

**Repository Path**: learing8hard/depth_img_handle

## Basic Information

- **Project Name**: depth_img_handle
- **Description**: No description available
- **Primary Language**: Python
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-08-01
- **Last Updated**: 2021-10-24

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# depth_img_handle

## ros camera calibration

    rosrun camera_calibration cameracalibrator.py  --camera_name=rs1 --no-service-check --size 8x6 --square 0.025 image:=/camera/color/image_raw camera:=/camera/color

## realsense drivier install
enviroment:  
ubuntu18.04;ros;  
1.install realsense sdk  

    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  

test   

    realsense-viewer  

2.install realsense-ros    
in the diretory ws/src download from github    

    git clone https://github.com/IntelRealSense/realsense-ros.git  
    git clone https://github.com/pal-robotics/ddynamic_reconfigure.git  
    cd ~/catkin_ws && catkin_make  

test   

    roslaunch realsense2_camera demo_pointcloud.launch   


## launch muilt realsense
1.record serial number  
2.commend  

    roslaunch realsense2_camera rs_rgbd.launch camera:=rs1 serial_no:=109122072245
    roslaunch realsense2_camera rs_rgbd.launch camera:=rs2 serial_no:=109622072840

3.another way write a .launch file

    <launch>
        <include file="$(find realsense2_camera)/launch/rgb_depth.launch" >
            <arg name="camera" value="rs1"/>
            <arg name="serial_no" value="109122072245"/>
        </include>
        <include file="$(find realsense2_camera)/launch/rgb_depth.launch" >
            <arg name="camera" value="rs2"/>
            <arg name="serial_no" value="109622072840"/>
        </include>
    </launch>

## calib lidar and imu
1.LI-Calib  
可以标定出旋转和平移，但是，目前只支持VLP16。