ubuntu1804配置OAK-D相机的ROS以及depthai_ros环境

自己的环境：
ubuntu18.04、ros-melodic

1下载depthai安装包

这里下载的目前最新的版本:depthai_2.19.1_amd64.deb
下载地址：地址

2安装

参考这个链接:https://docs.oakchina.cn/en/latest/pages/Advanced/ros_test_depthai_cpp_library.html#ros1-noetic-depthai-ros

2.1更新 usb 规则

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
sudo udevadm control --reload-rules && sudo udevadm trigger
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2.2配置安装包，这里没有用官方给的安装命令，直接dpkg -i

sudo dpkg -i depthai_2.19.1_amd64.deb
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2.3安装opencv,已经安装好了，4.5版本

2.4安装rviz-imu-plugin，ros版本改成自己的

sudo apt install ros-melodic-rviz-imu-plugin -y
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2.5设置程序，ros版本改成自己的

mkdir -p dai_ws/src
cd dai_ws/src
git clone https://gitee.com/oakchina/depthai-ros.git
cd ..
source /opt/ros/melodic/setup.bash
rosdep install --from-paths src --ignore-src -r -y
catkin_make
source devel/setup.bash
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2.6 执行示例运行双目相机对应的launch文件

cd dai_ws
source devel/setup.bash
roslaunch depthai_examples stereo_node.launch
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2.7 查看相机内参和外参

1. 在启动相机驱动后使用命令行查看

rostopic echo -n 1 /stereo_publisher/left/camera_info
rostopic echo -n 1 /stereo_publisher/right/camera_info
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-n 1指消息只打印1次
参数如下
D:相机的畸变系数，在SLAM中一般用到前5位[k1,k2,p1,p2,k3]
K:相机内参矩阵
R：相机旋转矩阵
P:相机投影矩阵，矩阵中第4个数字59.60097983474698对应ORB-SLAM3配置文件中的bf参数

header: 
  seq: 0
  stamp: 
    secs: 1668563459
    nsecs: 222877835
  frame_id: "oak_left_camera_optical_frame"
height: 720
width: 1280
distortion_model: "rational_polynomial"
D: [6.860053539276123, 8.262731552124023, -0.0022835570853203535, -0.0021555486600846052, -33.7902717590332, 6.535381317138672, 9.392735481262207, -34.76184844970703]
K: [800.8717041015625, 0.0, 630.91015625, 0.0, 800.8717041015625, 313.4556884765625, 0.0, 0.0, 1.0]
R: [0.9999741911888123, 8.463647827738896e-05, 0.00718728918582201, -7.144125265767798e-05, 0.9999983310699463, -0.0018361477414146066, -0.007187432609498501, 0.0018355868523940444, 0.9999724626541138]
P: [799.4793090820312, 0.0, 629.921875, 59.60097983474698, 0.0, 799.4793090820312, 289.2037658691406, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False
---
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2. 参考链接使用另一种方法获得

python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/ depthai
git clone https://github.com/luxonis/depthai-python
# 运行该命令的时候把双目的节点关掉，不然会有冲突
python3 depthai-python/examples/calibration/calibration_reader.py
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附一下自己获得的参数，畸变参数大的让我有点震惊，，，

RGB Camera Default intrinsics...
[[3101.96142578125, 0.0, 1907.9949951171875], [0.0, 3101.96142578125, 1062.4305419921875], [0.0, 0.0, 1.0]]
3840
2160
RGB Camera Default intrinsics...
[[3101.96142578125, 0.0, 1907.9949951171875], [0.0, 3101.96142578125, 1062.4305419921875], [0.0, 0.0, 1.0]]
3840
2160
RGB Camera resized intrinsics... 3840 x 2160 
[[3.10196143e+03 0.00000000e+00 1.90799500e+03]
 [0.00000000e+00 3.10196143e+03 1.06243054e+03]
 [0.00000000e+00 0.00000000e+00 1.00000000e+00]]
RGB Camera resized intrinsics... 4056 x 3040 
[[3.27644678e+03 0.00000000e+00 2.01531970e+03]
 [0.00000000e+00 3.27644678e+03 1.50144226e+03]
 [0.00000000e+00 0.00000000e+00 1.00000000e+00]]
LEFT Camera Default intrinsics...
[[800.8717041015625, 0.0, 630.91015625], [0.0, 800.8717041015625, 353.4556884765625], [0.0, 0.0, 1.0]]
1280
800
LEFT Camera resized intrinsics...  1280 x 720
[[800.8717041    0.         630.91015625]
 [  0.         800.8717041  313.45568848]
 [  0.           0.           1.        ]]
RIGHT Camera resized intrinsics... 1280 x 720
[[799.47930908   0.         629.921875  ]
 [  0.         799.47930908 289.20376587]
 [  0.           0.           1.        ]]
LEFT Distortion Coefficients...
k1: 6.860053539276123
k2: 8.262731552124023
p1: -0.0022835570853203535
p2: -0.0021555486600846052
k3: -33.7902717590332
k4: 6.535381317138672
k5: 9.392735481262207
k6: -34.76184844970703
s1: 0.0
s2: 0.0
s3: 0.0
s4: 0.0
τx: 0.0
τy: 0.0
RIGHT Distortion Coefficients...
k1: -6.954834461212158
k2: 72.10208129882812
p1: 0.002446624916046858
p2: -0.0010923939989879727
k3: -56.510074615478516
k4: -7.038227558135986
k5: 71.96546173095703
k6: -55.74861145019531
s1: 0.0
s2: 0.0
s3: 0.0
s4: 0.0
τx: 0.0
τy: 0.0
RGB FOV 68.7938003540039, Mono FOV 71.86000061035156
LEFT Camera stereo rectification matrix...
[[ 9.92582395e-01  1.52826154e-03  8.94126118e+00]
 [-2.66677967e-03  9.98922586e-01 -2.37076286e+01]
 [-8.97451186e-06  2.29198615e-06  1.00491614e+00]]
RIGHT Camera stereo rectification matrix...
[[ 9.94311104e-01  1.53092320e-03  8.86955389e+00]
 [-2.67142421e-03  1.00066234e+00  1.53122947e-02]
 [-8.99014212e-06  2.29597793e-06  1.00497154e+00]]
Transformation matrix of where left Camera is W.R.T right Camera's optical center
[[ 9.99980092e-01 -5.61705092e-03  2.88275210e-03 -7.45497704e+00]
 [ 5.62753947e-03  9.99977529e-01 -3.64335626e-03 -4.23889123e-02]
 [-2.86222226e-03  3.65950656e-03  9.99989212e-01 -3.22463810e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]
Transformation matrix of where left Camera is W.R.T RGB Camera's optical center
[[ 9.99982953e-01  3.72270565e-03  4.49601887e-03 -3.76168180e+00]
 [-3.75821535e-03  9.99961615e-01  7.91575387e-03 -1.48493946e-02]
 [-4.46637813e-03 -7.93251581e-03  9.99958575e-01 -1.99031860e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

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