d435i跑orbslam3

下载realsense2_camera

source devel/setup.bash
roslaunch realsense2_camera test.launch

 test.launch中修改了这里

  <arg name="infra_width"         default="848"/>
  <arg name="infra_height"        default="480"/>
  <arg name="enable_infra"        default="true"/>
  <arg name="enable_infra1"       default="true"/>
  <arg name="enable_infra2"       default="true"/>
  <arg name="infra_rgb"           default="false"/>

 记得把相机插在usb3.0口上，然后看下话题和画面

camera/infra1/camera_info
/camera/infra1/image_rect_raw
/camera/infra1/image_rect_raw/compressed
/camera/infra1/image_rect_raw/compressed/parameter_descriptions
/camera/infra1/image_rect_raw/compressed/parameter_updates
/camera/infra1/image_rect_raw/compressedDepth
/camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra1/image_rect_raw/compressedDepth/parameter_updates
/camera/infra1/image_rect_raw/theora
/camera/infra1/image_rect_raw/theora/parameter_descriptions
/camera/infra1/image_rect_raw/theora/parameter_updates
/camera/infra1/metadata
/camera/infra2/camera_info
/camera/infra2/image_rect_raw
/camera/infra2/image_rect_raw/compressed
/camera/infra2/image_rect_raw/compressed/parameter_descriptions
/camera/infra2/image_rect_raw/compressed/parameter_updates
/camera/infra2/image_rect_raw/compressedDepth
/camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra2/image_rect_raw/compressedDepth/parameter_updates
/camera/infra2/image_rect_raw/theora
/camera/infra2/image_rect_raw/theora/parameter_descriptions
/camera/infra2/image_rect_raw/theora/parameter_updates
/camera/infra2/metadata

有   /camera/infra1/image_rect_raw  ;  /camera/infra2/image_rect_raw  就够了,然后更改orbslam3中的ros_stereo.cc中的话题

  ros::NodeHandle nh;

    message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "camera/infra1/image_rect_raw", 1);
    message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "camera/infra2/image_rect_raw", 1);
    typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> sync_pol;
    message_filters::Synchronizer<sync_pol> sync(sync_pol(10), left_sub,right_sub);
    sync.registerCallback(boost::bind(&ImageGrabber::GrabStereo,&igb,_1,_2));

订阅camera/infra1/camera_info和camera/infra2/camera_info的内容。

在 src/ORB_SLAM3-master/Examples/ROS/ORB_SLAM3 下运行
进build文件下，cmake和make一下
source build/devel/setup.bash 
rosrun ORB_SLAM3 Stereo ../../../Vocabulary/ORBvoc.txt  MyD435i.yaml false 
 

运行了

随后增加imu运行 ,但是要下载mavros读取飞控信息

组后运行飞控和相机

roslaunch realsense2_camera test.launch
roslaunch mavros test.launch
rosrun ORB_SLAM3 Stereo_Inertial ../../../Vocabulary/ORBvoc.txt  MyD435i.yaml false 

 可以运行

RGBD报错

网上找了下，发现话题不对，是要对齐后的深度图

在相机的启动文件里找到ali这一项，选择true，然后更改话题 

message_filters::Subscriber rgb_sub(nh, "/camera/color/image_raw", 1);
message_filters::Subscriber depth_sub(nh, "/camera/aligned_depth_to_color/image_raw", 1);

 随后启动rgbd，可以正常启动，有一个问题就是rgbd的延迟比双目和单目都高

rosrun ORB_SLAM3 RGBD ../../../Vocabulary/ORBvoc.txt  MyD435i.yaml