###以Realsense D455双目相机为例
1、录制bag
首先运行realsense相机对应的launch文件,启动相机。
roslaunch realsense2_camera lee_test.launch //启动realsense相机
利用rqt可视化工具查看图像,并确认是否关闭结构光。
rqt_image_view //启动rqt可视化工具
用下面命令关闭机构光。
rosrun rqt_reconfigure rqt_reconfigure //关闭结构光
设置相机话题频率
rosrun topic_tools throttle messages /camera/color/image_raw 4.0 //降频
//rosrun topic_tools throttle messages /camera/color/image_raw 4.0 color //这样就是将/camera/color/image_raw降频后重命名为color。如果没有color默认为命名为/camera/color/image_raw_throttle
rosrun topic_tools throttle messages /camera/infra1/image_rect_raw 4.0
rosrun topic_tools throttle messages /camera/infra2/image_rect_raw 4.0 //相机的左右目降为4.0hz
确认需要录制的相机话题是否发布
rostopic list
录制bag
rosbag record -O realsense.bag /camera/color /image_raw_throttle /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw
2、kalibr标定
1)在kalibr_workspace下创建data文件夹以存放录制好的bag
2)在kalibr_workspace下打开终端,输入命令
source ./devel/setup.bash
rosrun kalibr kalibr_calibrate_cameras --models pinhole-radtan pinhole-radtan pinhole-radtan --target april.yaml --bag /data/realsense.bag --topics /camera/color/image_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw