CCM-SLAM跑自己的USB摄像头

ccm_slam/readme.md

# 5. Using your own Data

For using you own datasets or camera, you need to create according calibration and launch files:
* Create a new camera calibration file, e.g. by copying and adjusting ```conf/vi_euroc.yaml```.
    * If you don't know the parameters of your camera, you can find them using a camera calibration toolbox, such as [kalibr](https://github.com/ethz-asl/kalibr).
* Create a new launch file, e.g. by copying and adjusting ```launch/EuRoC/Client0_euroc.yaml```.
    * Change the parameter ```cam```to the path of your new camera file.
    * Change the parameter ```TopicNameCamSub```to the name of your camera topic.
    * Hint: If you have an existing rosbag-file with camera data, you can directly modify the topic when playing the bagfile: ```rosbag play mybag.bag existing_topic:=new_name```
* There is no need to change ```Server.launch```, however, you can adjust the number of Agents in the system by changing ```NumOfClients```. The maximum is set to **4** in the current implementation.
* If you are using a downward-looking camera instead of a forward-looking (as in the EuRoC sequences), it is recommended to change the rotational part of the [static transform publishers](http://wiki.ros.org/tf#static_transform_publisher) in the launch files to ```0 0 -3.142```, e.g. ```<node pkg="tf" type="static_transform_publisher" name="linkS0_broadcaster" args="0 0 5 0 0 -3.142 world odomS0 100" />```.
* There should be no need to change the name of the frame-IDs, such as ```odomC0```.

# 6. Parameters

System parameters are loaded from ```conf/config.yaml```. We explain the functionality of the most important parameters in the following lines:

**Mapping**
* ```Mapping.LocalMapSize```: The Local Map of the Agent is limited to n KFs.
* ```Mapping.LocalMapBuffer```: If LocalMapSize can not be reached, e.g. due to communication loss, there is a buffer of n KFs that is filled before KFs are irreversibly removed from the map.
* ```Mapping.RecentKFWindow```: The most recent n KFs of every map are excluded from KF culling.
* ```Mapping.RedThres```: Threshold for KF redundancy. 1.0 means no KF removal. (We recommend to use a value in the range of [1.0,0.95]. Please refer to the publications for details.)

**Communication** 
* ```Comm.Client.PubFreq```: The Agent publishes new data from the local map at this frequency.
* ```Comm.Server.PubFreq```: The Server publishes data for the Agents to augment/update their local map at this frequency.
* ```Comm.Server.KfsToClient```: In every message to one Agent, the Server sends the data of the ```n```closest KFs to the Agent's current position.
* ```Comm.Client.PubMaxKFs```: Maximimum number of KFs per message.
* ```Comm.Client.PubMaxMPs```: Maximimum number of MPs per message.

**Place Recognition**
* ```Placerec.NewLoopThres```: Between two Loop Closures, ```n```KFs need to pass.
* ```Placerec.StartMapMatchingAfterKf```: Map Matching does not consider the first ```n```KFs to ensure enough overlap between two map when matching and merging.

**Visualization**
* ```Viewer.Active```: Activate/Deactivate the visualization functionalities.
* ```Viewer.ScaleFactor```: Scales the visualization. Useful since monocular estimates exhibit arbitrary scale.

**Other**
* ```Stats.WriteKFsToFile```: Write KFs to cslam/output. **Attention**: Before being written to the csv-file, KFs are transformed to the body frame of the robot using the transformation given in the camera calibration file by ```T_imu_cam0```.

如何使用自己的数据

为了使用自己的数据集或相机，您需要创建校准和启动文件:

• 创建一个新的相机校准文件，例如通过复制和调整cslam/conf/vi_euroc.yaml。
  ----* 如果您不知道相机的参数，则可以使用相机校准工具箱找到它们，比如kalibr。
• 创建一个新的启动文件，例如通过复制和调整cslam/launch/EuRoC/Client0_euroc.launch。
  ----* 将参数cam更改为新相机文件的路径。
  ----* 将参数TopicNameCamSub更改为相机主题的名称。
  ----* 提示：如果您现有一个带有照相机数据的rosbag文件，则可以在播放bagfile时直接修改该主题：

  rosbag play mybag.bag exist_topic：= new_name
  

• 无需更改Server.launch，但是，您可以通过更改NumOfClients来调整系统中的代理数量。在当前实现中，最大值设置为4。
• 如果您使用的是向下看的摄像头而不是向前看的摄像头（如EuRoC序列中所示），建议更改[static transform publishers]的旋转部分，在启动文件中将其设置为"0 0 -3.142"，例如
  <node pkg =“ tf” type =“ static_transform_publisher” name =“ linkS0_broadcaster” args =“ 0 0 5 0 0 -3.142 world odomS0 100” />。
• 无需更改帧ID的名称，例如odomC0。

参数功能

系统参数是从cslam/conf / config.yaml加载的。我们在以下几行中解释最重要参数的功能：

Mapping建图

• Mapping.LocalMapSize: 代理的本地地图限制为n个KF。

• Mapping.LocalMapBuffer: 如果无法达到LocalMapSize，例如：由于通信丢失，在将KF不可逆地从地图中删除之前，将填充n个KF的缓冲区。

• Mapping.RecentKFWindow: 每张地图的最近n个KF都排除在KF剔除之外。

• Mapping.RedThres:KF冗余的阈值，1.0表示不删除KF。 (我们建议使用[1.0,0.95]范围内的值，有关详细信息，请参阅出版物)

• Communication 通信

• Comm.Client.PubFreq: 代理以该频率从本地地图发布新数据。

• Comm.Server.PubFreq: 服务器以该频率发布数据以供代理增加/更新其本地地图。

• Comm.Server.KfsToClient: 在发送给一个代理的每条消息中，服务器都会发送最接近代理当前位置的“ n”个KF的数据。

• Comm.Client.PubMaxKFs: 每条信息(message)的KF数上限。

• Comm.Client.PubMaxMPs: 每条信息(message)的MP数上限。

• Place Recognition位置识别

• Placerec.NewLoopThres: 在两个闭环之间，需要通过`n’个KF。

• Placerec.StartMapMatchingAfterKf: 地图匹配不考虑前面n个KF，以确保在匹配和合并时两个地图之间有足够的重叠。

Visualization可视化

• Viewer.Active: 激活/停用可视化功能。
• Viewer.ScaleFactor: 缩放可视化效果。单目有效。

Other其他

• Stats.WriteKFsToFile: 将KF写入cslam /输出。 注意: 在将KF写入csv文件之前，使用T_imu_cam0摄像机校准文件中给出的转换将KF转换为机器人的body坐标系。

尝试

假设已经在工作空间~/ccmslam_ws配置好CCM-SLAM 了

调用usb摄像头

进入ccmslam的工作空间，在src下下载usb_cam源文件到此目录下：

cd ~/ccmslam_ws/src
git clone https://github.com/bosch-ros-pkg/usb_cam.git
cd ..
catkin_make

如果失败的话用：

catkin_make_isolated

修改摄像头启动文件usb_cam-test.launch

启动文件在目录~/ccmslam_ws/src/usb_cam/launch/usb_cam-test.launch下
修改为：

<launch>
  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video2" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="mjpeg" />
    <param name="camera_frame_id" value="usb_cam" />
    <param name="io_method" value="mmap"/>
  </node>
  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
    <remap from="image" to="/usb_cam/image_raw"/>
    <param name="autosize" value="true" />
  </node>
</launch>

其中主要修改的是

<param name="video_device" value="/dev/video2" />

 <param name="pixel_format" value="mjpeg" />
 
 <remap from="image" to="/usb_cam/image_raw"/>

第一行是把连接的usb摄像头加上，不同的摄像头这个地址不同。
第二行是为了不让输出图像花屏。
第三行是将图像输出话题调整。

测试摄像头

source ~/ccmslam_ws/devel/setup.bash
roslaunch usb_cam usb_cam-test.launch

修改Client0_euroc.launch

原文件：

<?xml version="1.0"?>
<launch>

<arg name="dist" default="0"/>
<arg name="cam" default="$(find ccmslam)/conf/vi_euroc.yaml"/>

  <group ns="ccmslam">

  <node pkg="tf" type="static_transform_publisher" name="linkC0_broadcaster" args="-100 300 5 -1.571 0 -2 world odomC0 100" /> 

<node pkg="ccmslam" type="ccmslamClientNode" name="ccmslamClientNode0" args="$(find ccmslam)/conf/ORBvoc.txt $(arg cam)" output="screen">

  <!-- ++++++++++++++++++++++++++++++++++++++++++++++ -->
  <!-- Agent Specific Params - !!!MUST BE ADJUSTED!!! -->

  <param name="~FrameId" type="string" value="odomC0" />
  <param name="~ClientId" type="int" value="0" />

  <param name="~TopicNameCamSub" type="string" value="/cam0/image_raw" />

  <param name="~MapInTopicName" type="string" value="MapOutServer0" unless="$(arg dist)" />
  <param name="~MapInTopicName" type="string" value="MapOutServer0Disturbed" if="$(arg dist)" /> 

</node>

  </group>
</launch>

相机文件.yaml暂时不修改，仍使用/conf/vi_euroc.yaml。
将参数cam更改为新相机文件的路径：
即，将

 <param name="~TopicNameCamSub" type="string" value="/cam0/image_raw" />

改为：

  <param name="~TopicNameCamSub" type="string" value="/usb_cam/image_raw" />

编写启动文件

编写ccm-usb.sh：

gnome-terminal -t "cam" -x bash -c "source ~/ccmslam_ws/devel/setup.bash;roslaunch usb_cam usb_cam-test.launch;exec bash;"

sleep 3
gnome-terminal -t "server" -x bash -c "roslaunch ccmslam Server.launch;exec bash;"
sleep 3

gnome-terminal -t "agent0" -x bash -c "roslaunch ccmslam Client0_euroc.launch;exec bash;"

sleep 3 
gnome-terminal -t "rviz" -x bash -c "roscd ccmslam ;rviz -d conf/rviz/ccmslam.rviz ;exec bash;"

启动

命令行输入：

chmod +x ccm-usb.sh

sh ccm-usb.sh

自动开启摄像头、服务端、代理0、rviz。
在rviz中，点击File ->Open Config,选择~/ccmslam_ws/src/ccm_slam/cslam/conf/rviz/ccmslam.rviz
下方点击add 添加可视项目bytopic。

缓慢移动摄像头开始运行CCMSLAM：

建图结果：

成功了，(＾－＾)V

后续可以将rviz配置文件保存到桌面，方便直接打开。可以将ccm-usb.sh中的

gnome-terminal -t "rviz" -x bash -c "roscd ccmslam ;rviz -d conf/rviz/ccmslam.rviz ;exec bash;"

修改为：

gnome-terminal -t "rviz" -x bash -c "roscd ccmslam ;rviz -d [你的rviz配置文件地址] ;exec bash;"

方便打开rviz时直接启动相应配置文件。

添加多个Client同理。

转载请备注：https://blog.csdn.net/klsjadkls/article/details/115856515