Jetson AGX Orin+d435i相机实现Octomap建图_densesurfelmapping

环境参考：Nvidia Jetson AGX Orin Developer Kit 32GB、Ubuntu20.04、Jetpack5.1.1、Intel Realsense D435i深度相机、ROS-noetic、Vins-Fusion-gpu

Jetson AGX Orin+Vins+ros+d435i配置运行详情请见：

Jetson AGX ORIN配置运行vins-fusion-gpu（Zed/D435）_dueen1123的博客-CSDN博客

Octomap安装

1.编译安装 OctomapServer 建图包

cd ~/catkin_ws/src
git clone https://github.com/OctoMap/octomap_mapping.git

返回主目录，安装依赖，编译

cd ~/catkin_ws
rosdep install octomap_mapping

sudo apt-get install ros-noetic-pcl-ros
sudo apt-get install ros-noetic-octomap-ros

catkin_make

此处若未安装rosdep则执行：

sudo apt update
sudo apt install python3-rosdep
sudo rosdep init
rosdep update

再重新执行上一步。

2.安装 Rviz 可视化 Octomap 的插件：

sudo apt-get install ros-noetic-octomap-rviz-plugins

参数配置

1.修改外参

修改 ~/catkin_ws_src/VINS-Fusion-gpu/config/realsense_d435i下的realsense_stereo_imu_config.yaml文件，最好对相机进行标定

可参考：https://blog.csdn.net/qq_35616298/article/details/116171823

示例：

%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/master/output/"
 
cam0_calib: "left.yaml"
cam1_calib: "right.yaml"
image_width: 640
image_height: 480
   
 
# IMU和Camera之间的外部参数。
estimate_extrinsic : 1    # 0 有一个准确的外在参数。我们将信任以下 imu^R_cam，imu^T_cam，不要更改它。
                        # 1 初步猜测外在参数。我们将围绕您最初的猜测进行优化。
 
body_T_cam0: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 0.9998528554981037, -0.000802125407182569, 0.00536519139410059, -0.0117530714817712,
           0.000756690239208138, 0.999963883387885, 0.00846518397330719, 0.000876053017376294,
           -0.00537178776070555, -0.00846099962481987, 0.999949776429598, 0.0330899634954485,
           0, 0, 0, 1 ]
 
body_T_cam1: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 0.9999273228661367, -0.000653939965772498, 0.0037560266870867, 0.0361739507304974,
           0.000620172019278801, 0.999959446460512, 0.00898447667104663, 0.000362155753378663,
           -0.00376174967527688, -0.00898208199179027, 0.999952584597127, 0.0331025774267971,
           0, 0, 0, 1 ]
 
 
#多线程支持
multiple_thread: 1
 
#特征跟踪器参数
max_cnt : 150             #特征跟踪中的最大特征数
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