GITBOOK-104: No subject

SUMMARY.md

@@ -77,6 +77,7 @@
   * [Setup with VICON](estimation/setup-with-vicon.md)
   * [Odometry from pose data](estimation/odometry-from-pose-data.md)
 * [Computer Vision](computer-vision/README.md)
+  * [Intel RealSense D435i setup for ROS Noetic](computer-vision/intel-realsense-d435i-setup-for-ros-noetic.md)
   * [IntelRealSense D435i Calibration](computer-vision/intelrealsense-d435i-calibration.md)
   * [Camera Calibration](computer-vision/camera-calibration.md)
   * [ArUco ROS](computer-vision/using-aruco\_ros.md)

computer-vision/intel-realsense-d435i-setup-for-ros-noetic.md

@@ -0,0 +1,80 @@
+# Intel RealSense D435i setup for ROS Noetic
+
+### Setting up ROS Package of Intel RealSense <a href="#setting-up-ros-package-of-intel-realsense" id="setting-up-ros-package-of-intel-realsense"></a>
+
+```bash
+sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
+sudo apt-get install ros-$ROS_DISTRO-realsense2-description
+```
+
+#### Note <a href="#note" id="note"></a>
+
+We use _noetic_ ROS Distribution
+
+### Make the Workspace for Intel RealSense ROS Package <a href="#make-the-workspace-for-intel-realsense-ros-package" id="make-the-workspace-for-intel-realsense-ros-package"></a>
+
+```bash
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws/src/
+git clone https://github.com/IntelRealSense/realsense-ros.git
+cd realsense-ros/
+git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
+cd ..
+```
+
+### Building the Package <a href="#building-the-package" id="building-the-package"></a>
+
+```bash
+catkin_init_workspace
+cd ..
+catkin_make clean
+catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
+catkin_make install
+```
+
+### Adding Source File to bashrc <a href="#adding-source-file-to-bashrc" id="adding-source-file-to-bashrc"></a>
+
+```bash
+echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+```
+
+### Running the Camera <a href="#running-the-camera" id="running-the-camera"></a>
+
+Launch the **rs\_camera.launch** launch file located in **realsense2\_camera** package
+
+```bash
+roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
+```
+
+Launch _rviz_ to Visualize the Camera Feed and Depth
+
+```bash
+rviz
+```
+
+In Fixed Frame, select _camera\_color\_optical\_frame_
+
+<figure><img src="../.gitbook/assets/camera_color_optical_frame.png" alt=""><figcaption></figcaption></figure>
+
+Then Click _add_, goto _By topic_, expand _/camera_, _/color_ and _/image\_raw_, select _camera_ with _raw_ option and then click Ok.&#x20;
+
+<figure><img src="../.gitbook/assets/camera_feed.png" alt=""><figcaption></figcaption></figure>
+
+It would show the Camera Feed in the Bottom Left
+
+<figure><img src="../.gitbook/assets/camera_feed_view.png" alt=""><figcaption></figcaption></figure>
+
+Then Click _add_, goto _By topic_, expand _/camera_, _/depth_, _/color_ and _/points_, select _PointCloud2_ and then click Ok.
+
+<figure><img src="../.gitbook/assets/PointCloud2.png" alt=""><figcaption></figcaption></figure>
+
+It would show the Depth with color.
+
+<figure><img src="../.gitbook/assets/PointCloud2_View.png" alt=""><figcaption></figcaption></figure>
+
+Select _Points_ in the _Style_ Parameter to get a better Visualization
+
+
+
+<figure><img src="../.gitbook/assets/PointCloud2_Style.png" alt=""><figcaption></figcaption></figure>