Ubuntu20 ros + d435 + realsense2 SDK + orb-slam2

realsense-ros

ros

见

2024最保姆的XTDrone，PX4，ROS，Gazebo环境教程_xtdrone和gazebo-CSDN博客

只看ros部分就ok了

realsense2 SDk

git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
sudo cp config/99-realsense-libusb.rules /etc/udev/rulesgger
sudo udevadm control --reload-rules && udevadm trigger
mkdir build
cd build
cmake ../
make
sudo make install

测试（打开软件就ok了）

realsense-viewer

realsense-ros

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
sudo apt-get install ros-$ROS_DISTRO-realsense2-description

sudo apt-get install ros-noetic-rgbd-launch

测试

roslaunch realsense2_camera rs_camera.launch

检查话题

rostopic list

orb-slam2

配置环境

下载ORB_SLAM2

链接：https://pan.baidu.com/s/1GR2bANvzU4Ctd6icZws8Og?pwd=fn3s 
提取码：fn3s 

将以上文件解压并将文件夹中的ORB_SLAM2复制到catkin_ws/目录下

安装Pangolin0.5版本

将Pangolin安装在ORBSLAM2目录下并解压（重命名为Pangolin）

Release v0.5 · stevenlovegrove/Pangolin · GitHub

sudo apt-get install libxkbcommon-dev
sudo apt-get install wayland-protocols
sudo apt install libglew-dev
cd Pangolin
mkdir build
cd build
cmake ..
make -j
sudo make install

测试

cd Pangolin
cd examples/HelloPangolin
mkdir build && cd build
cmake ..
make
./HelloPangolin

将以上文件解压并将文件夹中的ORB_SLAM2复制到catkin_ws/目录下

源码编译安装Eigen3.3.9

将Eigen3.3.9安装在ORBSLAM2目录下并解压（重命名为eigen）

https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.bz2

cd eigen
mkdir build
cd build
cmake ..
sudo make install
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include 

测试

pkg-config --modversion eigen3

安装ORB_SLAM2

运行build.sh文件

cd ORB_SLAM2
chmod +x build.sh
./build.sh

---

加入数据流

在以下网址下载数据集fr1/xyz并将其解压缩放在ORB_SLAM2/data目录下

Computer Vision Group - Dataset Download

运行

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml data/rgbd_dataset_freiburg1_xyz

运行D435

获得相机内参

roscore

roslaunch realsense2_camera rs_camera.launch

rostopic echo /camera/color/camera_info

在路径：/home/(用户名)/ORB_SLAM2/Examples/RGB-D中新建RealSense.yaml文件，由1获取的内参进行修改以下内容：

%YAML:1.0


#--------------------------------------------------------------------------------------------

# Camera calibration and distortion parameters (OpenCV)

Camera.fx: 606.2763671875

Camera.fy: 605.233154296875

Camera.cx: 319.2896728515625

Camera.cy: 246.07589721679688


Camera.k1: 0.0

Camera.k2: 0.0

Camera.p1: 0.0

Camera.p2: 0.0

Camera.k3: 0.0


Camera.width: 640

Camera.height: 480


#Camera frames per second

Camera.fps: 30.0


#IR projector baseline times fx (aprox.)

Camera.bf: 30.3


#Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)

Camera.RGB: 1


#Close/Far threshold. Baseline times.

ThDepth: 40.0


#Deptmap values factor，将深度像素值转化为实际距离，原来单位是 mm，转化成 m

DepthMapFactor: 1000.0



#ORB Parameters

#--------------------------------------------------------------------------------------------


#ORB Extractor: Number of features per image

ORBextractor.nFeatures: 1000


#ORB Extractor: Scale factor between levels in the scale pyramid

ORBextractor.scaleFactor: 1.2


#ORB Extractor: Number of levels in the scale pyramid

ORBextractor.nLevels: 8


#ORB Extractor: Fast threshold

#Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.

#Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST

#You can lower these values if your images have low contrast

ORBextractor.iniThFAST: 20

ORBextractor.minThFAST: 7


#--------------------------------------------------------------------------------------------

#Viewer Parameters

#--------------------------------------------------------------------------------------------

Viewer.KeyFrameSize: 0.05

Viewer.KeyFrameLineWidth: 1

Viewer.GraphLineWidth: 0.9

Viewer.PointSize:2

Viewer.CameraSize: 0.08

Viewer.CameraLineWidth: 3

Viewer.ViewpointX: 0

Viewer.ViewpointY: -0.7

Viewer.ViewpointZ: -1.8

Viewer.ViewpointF: 500

添加工作路径

在bashrc下添加ORB_SLAM2的工作路径：

ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/(用户名)/catkin_ws/ORB_SLAM2/Examples/ROS

运行build_ros.sh文件：

cd ORB_SLAM2

chmod +x build_ros.sh

./build_ros.sh

启动

安装以下依赖包

sudo apt-get install ros-noetic-rgbd-launch

启动相机节点：

roslaunch realsense2_camera rs_rgbd.launch

运行：

cd catkin_ws/ORB_SLAM2

rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/RealSense.yaml