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add realsense d455 config #140

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4b82efb
add realsense d455 config
zengxiaolei Jan 6, 2021
ac3b14b
Update realsense_stereo_imu_config.yaml
zengxiaolei Jan 14, 2021
f34b9b3
Merge branch 'HKUST-Aerial-Robotics:master' into master
zengxiaolei Nov 3, 2023
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16 changes: 16 additions & 0 deletions config/realsense_d455/left.yaml
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%YAML:1.0
---
model_type: PINHOLE
camera_name: camera
image_width: 640
image_height: 480
distortion_parameters:
k1: 0.0
k2: 0.0
p1: 0.0
p2: 0.0
projection_parameters:
fx: 387.47454833984375
fy: 387.47454833984375
cx: 316.1062927246094
cy: 238.7586212158203
75 changes: 75 additions & 0 deletions config/realsense_d455/realsense_stereo_imu_config.yaml
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%YAML:1.0

#common parameters
#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam;
imu: 1
num_of_cam: 2

imu_topic: "/camera/imu"
image0_topic: "/camera/infra1/image_rect_raw"
image1_topic: "/camera/infra2/image_rect_raw"
output_path: "/home/zeng/Documents/"

cam0_calib: "left.yaml"
cam1_calib: "right.yaml"
image_width: 640
image_height: 480


# Extrinsic parameter between IMU and Camera.
estimate_extrinsic: 1 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
# 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.

body_T_cam0: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1., 0.,
0., -3.022e-02,
0., 1.,
0., 7.4e-03,
0., 0.,
1., 0., 0., 0., 0., 1. ]

body_T_cam1: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1., 0.,
0., 6.473435e-02,
0., 1.,
0., 7.4e-03,
0., 0.,
1., 0., 0., 0., 0., 1. ]

#Multiple thread support
multiple_thread: 1

#feature traker paprameters
max_cnt: 150 # max feature number in feature tracking
min_dist: 30 # min distance between two features
freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image
F_threshold: 1.0 # ransac threshold (pixel)
show_track: 0 # publish tracking image as topic
flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy

#optimization parameters
max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time
max_num_iterations: 8 # max solver itrations, to guarantee real time
keyframe_parallax: 10.0 # keyframe selection threshold (pixel)

#imu parameters The more accurate parameters you provide, the better performance
acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04
gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004
acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.002
gyr_w: 0.0001 # gyroscope bias random work noise standard deviation. #4.0e-5
g_norm: 9.805 # gravity magnitude

#unsynchronization parameters
estimate_td: 1 # online estimate time offset between camera and imu
td: 0.00 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)

#loop closure parameters
load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path'
pose_graph_save_path: "/home/zeng/Documents/" # save and load path
save_image: 0 # save image in pose graph for visualization prupose; you can close this function by setting 0
16 changes: 16 additions & 0 deletions config/realsense_d455/right.yaml
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%YAML:1.0
---
model_type: PINHOLE
camera_name: camera
image_width: 640
image_height: 480
distortion_parameters:
k1: 0.0
k2: 0.0
p1: 0.0
p2: 0.0
projection_parameters:
fx: 387.47454833984375
fy: 387.47454833984375
cx: 316.1062927246094
cy: 238.7586212158203
132 changes: 132 additions & 0 deletions config/realsense_d455/rs_camera.launch
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<launch>
<arg name="serial_no" default=""/>
<arg name="usb_port_id" default=""/>
<arg name="device_type" default=""/>
<arg name="json_file_path" default=""/>
<arg name="camera" default="camera"/>
<arg name="tf_prefix" default="$(arg camera)"/>
<arg name="external_manager" default="false"/>
<arg name="manager" default="realsense2_camera_manager"/>
<arg name="output" default="screen"/>

<arg name="fisheye_width" default="640"/>
<arg name="fisheye_height" default="480"/>
<arg name="enable_fisheye" default="false"/>

<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="enable_depth" default="true"/>

<arg name="confidence_width" default="640"/>
<arg name="confidence_height" default="480"/>
<arg name="enable_confidence" default="true"/>
<arg name="confidence_fps" default="30"/>

<arg name="infra_width" default="640"/>
<arg name="infra_height" default="480"/>
<arg name="enable_infra" default="false"/>
<arg name="enable_infra1" default="true"/>
<arg name="enable_infra2" default="true"/>
<arg name="infra_rgb" default="false"/>

<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="enable_color" default="true"/>

<arg name="fisheye_fps" default="30"/>
<arg name="depth_fps" default="30"/>
<arg name="infra_fps" default="30"/>
<arg name="color_fps" default="30"/>
<arg name="gyro_fps" default="200"/>
<arg name="accel_fps" default="250"/>
<arg name="enable_gyro" default="true"/>
<arg name="enable_accel" default="true"/>

<arg name="enable_pointcloud" default="false"/>
<arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
<arg name="pointcloud_texture_index" default="0"/>

<arg name="enable_sync" default="true"/>
<arg name="align_depth" default="false"/>

<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="0"/>

<arg name="filters" default=""/>
<arg name="clip_distance" default="-2"/>
<arg name="linear_accel_cov" default="0.01"/>
<arg name="initial_reset" default="false"/>
<arg name="unite_imu_method" default="copy"/>
<arg name="topic_odom_in" default="odom_in"/>
<arg name="calib_odom_file" default=""/>
<arg name="publish_odom_tf" default="true"/>
<arg name="allow_no_texture_points" default="false"/>

<group ns="$(arg camera)">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="external_manager" value="$(arg external_manager)"/>
<arg name="manager" value="$(arg manager)"/>
<arg name="output" value="$(arg output)"/>
<arg name="serial_no" value="$(arg serial_no)"/>
<arg name="usb_port_id" value="$(arg usb_port_id)"/>
<arg name="device_type" value="$(arg device_type)"/>
<arg name="json_file_path" value="$(arg json_file_path)"/>

<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/>
<arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
<arg name="pointcloud_texture_index" value="$(arg pointcloud_texture_index)"/>
<arg name="enable_sync" value="$(arg enable_sync)"/>
<arg name="align_depth" value="$(arg align_depth)"/>

<arg name="fisheye_width" value="$(arg fisheye_width)"/>
<arg name="fisheye_height" value="$(arg fisheye_height)"/>
<arg name="enable_fisheye" value="$(arg enable_fisheye)"/>

<arg name="depth_width" value="$(arg depth_width)"/>
<arg name="depth_height" value="$(arg depth_height)"/>
<arg name="enable_depth" value="$(arg enable_depth)"/>

<arg name="confidence_width" value="$(arg confidence_width)"/>
<arg name="confidence_height" value="$(arg confidence_height)"/>
<arg name="enable_confidence" value="$(arg enable_confidence)"/>
<arg name="confidence_fps" value="$(arg confidence_fps)"/>

<arg name="color_width" value="$(arg color_width)"/>
<arg name="color_height" value="$(arg color_height)"/>
<arg name="enable_color" value="$(arg enable_color)"/>

<arg name="infra_width" value="$(arg infra_width)"/>
<arg name="infra_height" value="$(arg infra_height)"/>
<arg name="enable_infra" value="$(arg enable_infra)"/>
<arg name="enable_infra1" value="$(arg enable_infra1)"/>
<arg name="enable_infra2" value="$(arg enable_infra2)"/>
<arg name="infra_rgb" value="$(arg infra_rgb)"/>

<arg name="fisheye_fps" value="$(arg fisheye_fps)"/>
<arg name="depth_fps" value="$(arg depth_fps)"/>
<arg name="infra_fps" value="$(arg infra_fps)"/>
<arg name="color_fps" value="$(arg color_fps)"/>
<arg name="gyro_fps" value="$(arg gyro_fps)"/>
<arg name="accel_fps" value="$(arg accel_fps)"/>
<arg name="enable_gyro" value="$(arg enable_gyro)"/>
<arg name="enable_accel" value="$(arg enable_accel)"/>

<arg name="publish_tf" value="$(arg publish_tf)"/>
<arg name="tf_publish_rate" value="$(arg tf_publish_rate)"/>

<arg name="filters" value="$(arg filters)"/>
<arg name="clip_distance" value="$(arg clip_distance)"/>
<arg name="linear_accel_cov" value="$(arg linear_accel_cov)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
<arg name="unite_imu_method" value="$(arg unite_imu_method)"/>
<arg name="topic_odom_in" value="$(arg topic_odom_in)"/>
<arg name="calib_odom_file" value="$(arg calib_odom_file)"/>
<arg name="publish_odom_tf" value="$(arg publish_odom_tf)"/>
<arg name="allow_no_texture_points" value="$(arg allow_no_texture_points)"/>
</include>

<node name="camera_dynparam" pkg="dynamic_reconfigure" type="dynparam"
args="set /camera/stereo_module 'emitter_enabled' 0" />
</group>
</launch>