D435i跑ORBSLAM2_with_PointCloud小结

参考文章：ROS下使用 Realsense D435i 运行ORBSLAM2_with_pointcloud_map_苏碧落的博客-CSDN博客ORBSLAM2_with_PointCloud编译ROS包并使用kinect2实现室内稠密点云地图创建_Andyoyo007的博客-CSDN博客

按照第一篇文章搞完后，发现运行的时候相机动一下就会程序中断，并且提示段错误（核心已转储），解决方法是这篇博文ubunto16.04编译orbslam2,运行时出现---段错误的解决方案---之-march=native大坑!!!!!!!!!!!!_qq_43525260的博客-CSDN博客_orbslam 段错误

解决完之后正常运行，但是没有点云图显示，保存地图后用pcl也读不出来，翻看评论发现是D435i的yaml文件末尾少了一行代码，参见下面：

在写D435i的yaml文件时，最后一行要加上

#--------------------------------------------------------------------------------------------
# PointCloud Mapping
#--------------------------------------------------------------------------------------------
PointCloudMapping.Resolution: 0.03

目前正常运行，点云图也可以正常显示。

但是效果不是很好，漂移很严重，还没有我之前单目相机跑出来的效果好，不知道是相机配置文件出了问题还是怎么了，后续解决了再补充。

问题出在D435i的yaml文件设置的问题，附上我的yaml文件：

%YAML:1.0

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

# Camera Parameters. Adjust them!

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

# Camera calibration and distortion parameters (OpenCV)

Camera.fx: 608.3692016601562

Camera.fy: 607.1261596679688

Camera.cx: 321.56707763671875

Camera.cy: 245.23976135253906

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: 40.0

# 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

DepthMapFactor: 5000.0

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

# 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

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

# PointCloud Mapping

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

PointCloudMapping.Resolution: 0.03

下面是运行的截图：

 稳定性很好，比单目稳定多了，也不怕快速的转弯，就是点云图啥也看不出来，后续再解决。