1. Install the driver. (Many tutorials, self-search)
2. The terminal runs realsense-viewer, which has its own record, but the format of the imu in the bag is wrong, so give up.
3. Use rosbag to record.
1. Install the ros space
2. Modify the rs_t265.launch file at /home/liubo/realsense_ws/src/realsense-ros/realsense2_camera/launch
Modify <arg name="unite_imu_method" default="copy"/> to merge IMU information, the default merged topic is /camera/imu
3. Start preparing for recording
cd realsense_ws/
source devel/setup.bash
roslaunch realsense2_camera demo_t265.launch #Run the camera, automatically open rviz, you can ADD topic, observe left and right eyes and IMU image information
rosrun topic_tools throttle messages /camera/imu 200.0 /imu #Set the /camera/imu topic to 200hz and rename it to /imu
rosrun topic_tools throttle messages /camera/fisheye1/image_raw 20.0 /fisheye1 #Set the /camera/fisheye1/image_raw topic to 20hz and rename it to /fisheye1
rosrun topic_tools throttle messages /camera/fisheye2/image_raw 20.0 /fisheye2 #Set the /camera/fisheye2/image_raw topic to 20hz and rename it to /fisheye2
osbag record -O test /fisheye1 /fisheye2 /imu #Specify three topics to start recording the package named test, and the location is in the folder of the open terminal.
4. After recording, you can use rosbag info -y test.bag to view the topic and recording quantity.
Five, processing bag
Run python test.py to unpack
One of the images for the left eye is:
Add internal parameters fx, fy, cx, cy, k1-k4 by yourself, (can be calibrated with kalibr) for de-distortion processing: (Refer to the fourteenth lecture CH5 to change the distortion formula to a fisheye camera)
result: