GITBOOK-97: In progress

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)
+  * [IntelRealSense D455 Calibration](computer-vision/intelrealsense-d455-calibration.md)
   * [Camera Calibration](computer-vision/camera-calibration.md)
   * [ArUco ROS](computer-vision/using-aruco\_ros.md)
 * [Machine Learning](machine-learning/README.md)

computer-vision/intelrealsense-d455-calibration.md

@@ -0,0 +1,108 @@
+---
+description: Calibration of IntelRealSenseD455 using AprilGrid
+---
+
+# IntelRealSense D455 Calibration
+
+### Installing Kalibr
+
+#### Building Kalibr from Source
+
+1.  Install the necessary dependencies:
+
+    ```bash
+    sudo apt-get install -y git wget autoconf automake nano libeigen3-dev libboost-all-dev libsuitesparse-dev doxygen libopencv-dev libpoco-dev libtbb-dev libblas-dev liblapack-dev libv4l-dev python3-dev python3-pip python3-scipy python3-matplotlib ipython3 python3-wxgtk4.0 python3-tk python3-igraph python3-pyx
+    ```
+2.  Create and configure a workspace:
+
+    ```bash
+    mkdir -p ~/kalibr_workspace/src
+    cd ~/kalibr_workspace
+    export ROS1_DISTRO=noetic # Replace 'noetic' with your ROS version
+    source /opt/ros/$ROS1_DISTRO/setup.bash
+    catkin init
+    catkin config --extend /opt/ros/$ROS1_DISTRO
+    catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+    ```
+3.  Clone the Kalibr project and build it:
+
+    ```bash
+    cd ~/kalibr_workspace/src
+    git clone https://github.com/ethz-asl/kalibr.git
+    cd ~/kalibr_workspace/
+    catkin build -DCMAKE_BUILD_TYPE=Release -j4
+    ```
+
+    Source the workspace setup:
+
+    ```bash
+    source ~/kalibr_workspace/devel/setup.bash
+    ```
+
+### Recording a Rosbag
+
+To record a rosbag, follow these steps:
+
+1.  Start ROS using the command:
+
+    ```bash
+    roscore
+    ```
+2.  Install the IntelRealSense ROS package for your ROS distribution:
+
+    ```bash
+    sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
+    source devel/setup.bash
+    ```
+3.  Launch the camera node using:
+
+    ```bash
+    roslaunch realsense2_camera rs_camera.launch
+    ```
+4.  Check that camera topics are listed with:
+
+    ```bash
+    rostopic list
+    ```
+
+    You should see topics such as `camera/color/image_raw`.
+5.  Record a rosbag from all topics:
+
+    ```bash
+    rosbag record -a
+    ```
+
+    Press Ctrl+C to stop recording. The rosbag will be saved in the current directory.
+
+    **Important points during recording:**
+
+    * Excite all IMU axes (rotation and translation).
+    * Avoid shocks, especially at the beginning and end of recording.
+    * Maintain low motion blur through low shutter times and good illumination.
+    * Ensure timestamps have low jitter and are synchronized.
+6.  Check the rosbag info and play it using:
+
+    ```bash
+    rosbag info
+    rosbag play
+    ```
+
+
+
+### Calibrating the Camera Using AprilGrid
+
+1. Ensure the AprilGrid details are specified in a `.yaml` file.
+2.  To calibrate the camera, run the following command in the directory containing the `.yaml` file and rosbag:
+
+    ```bash
+    rosrun kalibr kalibr_calibrate_cameras --target [name of .yaml file] --models [camera/distortion models to be fitted] --topics [name of topic where image from camera is being published] --bag [path to rosbag] --bag-freq 10.0 --show-extraction
+    ```
+
+    **Notes:**
+
+    * The camera distortion model used should be `pinhole-radtan`.
+    * The `--show-extraction` flag shows the calibration alongside the feed.
+    * The `--bag-freq 10.0` sets the playback frequency of the rosbag to 10 Hz during calibration.
+
+The results of the calibration process will be saved in a PDF and the matrix parameters will be stored in a `.yaml` file in the same directory.
+