rtabmap 数据集实验过程

心累，发现不加ros的资料真的少。

现放几个ros的：

https://blog.csdn.net/iriving_shu/article/details/69372380

https://blog.csdn.net/xiaocainiaodeboke/article/details/79541512

官方安装说明：https://github.com/introlab/rtabmap/wiki/Installation#ubuntu

 

1. 预装库：

$ sudo apt-get update $ sudo apt-get install libsqlite3-dev libpcl-dev libopencv-dev git cmake libproj-dev libqt5svg5-dev

 

2.下载源码编译：

$ git clone https://github.com/introlab/rtabmap.git rtabmap $ cd rtabmap/build $ cmake .. $ make -j4 $ sudo make install

 

遇见问题：

1. 编译报错：../../../bin/librtabmap_core.so.0.11.12: undefined reference to `cs_pinv'

参考 https://github.com/introlab/rtabmap/issues/154

 

首先删除作者的缓存

$ cd rtabmap/build $ rm CMakeCache.txt $ cmake ..

删除usr/local/include下的EXTERNAL（需要权限）

 

1. 通过软件运行

http://official-rtab-map-forum.67519.x6.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-td939.html

• 使用修改过的associate.py处理得到rgb_sync depth_sync
• 创建 "rgbddatasets.yaml" 拷贝到"~/Documents/RTAB-Map/camera_info":

%YAML:1.0
camera_name: rgbddatasets
image_width: 0
image_height: 0
camera_matrix:
   rows: 3
   cols: 3
   data: [ 525., 0., 3.1950000000000000e+02, 0., 525.,
       2.3950000000000000e+02, 0., 0., 1. ]
distortion_coefficients:
   rows: 1
   cols: 5
   data: [ 0., 0., 0., 0., 0. ]
rectification_matrix:
   rows: 3
   cols: 3
   data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection_matrix:
   rows: 3
   cols: 4
   data: [ 525., 0., 3.1950000000000000e+02, 0., 0., 525.,
       2.3950000000000000e+02, 0., 0., 0., 1., 0. ]

• 运行软件，打开 Preferences 点击"Reset all settings" 。点击Source, 选择RGB-D set input rate to 30 Hz or lower, set calibration name to "rgbddatasets" (should be the same name as the calibration file create before).

• Scroll down to select "Images" for the camera driver. Fill RGB and depth directories (with "rgb_sync" and "depth_sync" folders), set 5 for the depth scale, check "Use RGB file names as timestamps" and leave empty the "Optional timestamps file".
• To have more points to compare with the ground truth, you can check "Create intermediate nodes..." under Advanced RTAB-Map settings panel.

2. 运行./rtabmap-rgbd_dataset

./rtabmap-rgbd_dataset 目录

 

补充：关于标定文件

https://blog.csdn.net/qq_30667639/article/details/78330695

image_width、image_height代表图片的长宽

camera_name为摄像头名

camera_matrix规定了摄像头的内部参数矩阵

distortion_model指定了畸变模型

distortion_coefficients指定畸变模型的系数

rectification_matrix为矫正矩阵，一般为单位阵

projection_matrix为外部世界坐标到像平面的投影矩阵