使用IntelRealsenseD435i深度相机模拟激光雷达数据

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前言

参考链接
Ubuntu系统为18.04，并且安装了对应的ROS以及realsense-ros
将realsense-ros/realsense2_camera/launch/rs_camera.launch中的align_depth设置为true，才会出现/camera/aligned_depth_to_color/image_raw和/camera/aligned_depth_to_color/camera_info话题

1.下载并编译ros自带的功能包depthimage_to_lasersca

https://github.com/ros-perception/depthimage_to_laserscan注意下载自己ORS版本的功能包

mkdir -p depthimage_to_laserscan_ws/src && cd depthimage_to_laserscan_ws/src
git clone https://github.com/ros-perception/depthimage_to_laserscan.git
cd ..
catkin_make

2.新建一个launch文件

在depthimage_to_laserscan_ws/src/depthimage_to_laserscan/launch/路径下新建use_my_D435i.launch

<launch>
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">\
     <remap from="image" to="/camera/aligned_depth_to_color/image_raw"/> 
     <remap from="camera_info" to="/camera/aligned_depth_to_color/camera_info"/>
     <remap from="scan" to="/realsense_scan"/>
     <param name="range_max" type="double" value="4"/>
</node>
</launch>

3.转化为激光雷达数据

1.启动相机节点

连接上相机，在安装realsense-ros的工作空间下打开终端

source devel/setup.bash
roslaunch realsense2_camera rs_camera.launch

2.启动depthimage_to_lasersca

在depthimage_to_laserscan_ws文件夹下面打开

source devel/setup.bash
roslaunch depthimage_to_laserscan  use_my_D435i.launch

3.查看结果

新建终端，打开rviz，Fixed Frame选择camera_link，并且添加LaserScan，图像如下

4.添加Y上的阈值

1.

在depthimage_to_laserscan/cfg/Depth.cfg中17-18行添加

gen.add("ythresh_min", double_t, 0, "Minimum y thresh (in meters).", -0.30, -1.0, 1.0)
gen.add("ythresh_max", double_t, 0, "Maximum y thresh (in meters).", 0.30, -1.0, 1.0)

2.

在depthimage_to_laserscan/src/DepthImageToLaserScanROS.cpp中的reconfigureCb()函数中添加调用（第91行）

dtl_.set_y_thresh(config.ythresh_min, config.ythresh_max);

3.

在depthimage_to_laserscan/include/depthimage_to_laserscan/DepthImageToLaserScan.h中添加成员函数和成员变量:

void set_y_thresh(const float ythresh_min, const float ythresh_max); //第116行
float ythresh_min_; //第228行
float ythresh_max_;

同时在depthimage_to_laserscan/src/DepthImageToLaserScan.cpp中169-172行添加set_y_thresh()具体实现

void DepthImageToLaserScan::set_y_thresh(const float ythresh_min, const float ythresh_max){
  ythresh_min_ = ythresh_min;
  ythresh_max_ = ythresh_max;
}

4.

在depthimage_to_laserscan/include/depthimage_to_laserscan/DepthImageToLaserScan.h中添加

const float constant_y = unit_scaling / cam_model.fy(); // line 181

double y = (v - center_y) * depth * constant_y; //line 206
if(y<ythresh_min_||y>ythresh_max_)
{
	r = std::numeric_limits<float>::quiet_NaN();
	continue;
}

在使用y阈值之前，首先要将scan_height调大，由于realsense分辨率为640*480，因此设置scan_height:320。
直接将参数添加至depthimage_to_laserscan/launch/use_my_D435i.launch文件中。

<launch>

    <include file="$(find realsense2_camera)/launch/rs_camera.launch"/>
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">\
     <remap from="image" to="/camera/depth/image_rect_raw"/> 
     <remap from="camera_info" to="/camera/depth/camera_info"/>
     <remap from="scan" to="/kinect_scan"/>
     <param name="scan_height" type="int" value="320"/>
     <param name="scan_time" type="double" value="0.033"/>
     <param name="range_min" type="double" value="0.45"/>
     <param name="range_max" type="double" value="8"/>
     <param name="output_frame_id" type="string" value="camera_depth_frame"/>
</node>

</launch>

5.用上面同样的方法查看结果