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