Setup Intel Realsense D455 Depth Camera

• Beginning with Raspberry Pi4
• Headless install Ubuntu Server 18.04 on Pi
• Install ROS on Ubuntu- ROS Melodic
• ROS wrapper for Realsense D400 series - realsense-ros

Installing Intel® RealSense™ SDK2.0

$ sudo apt-get install libusb-1.0-0-dev
$ git clone https://github.com/IntelRealSense/librealsense.git
$ cd librealsense/
$ mkdir build && cd build
$ cmake ../ -DFORCE_RSUSB_BACKEND=true -DBUILD_PYTHON_BINDINGS=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true
$ sudo make uninstall && make clean && make && sudo make install

• Debian install for Realsense SDK2.0 -librealsense/distribution
• Some patches for Ubuntu -librealsense/installation
  

Working with D455

• Setup OpenCV for C/C++
• Take a pic on D455!

Calibrating normal USB Cameras

• Edit usb_cam_node.cpp, and change the pixel_format to "yuyv"
• Run the following in different terminals-

roscore
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/usb_cam/image_raw camera:=/dev/video0 --no-service-check --approximate=0.1
rosrun usb_cam usb_cam_node
Refer http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration#Running_the_Calibration_Node