Ubuntu 16.04 下 VINS-Mono 的安装和使用(RealSense ZR300)

Overview

欢迎访问 https://spatial-ai.net/vinsmono-zr300-run.html， 持续更新

本文介绍在 Ubuntu 16.04（ROS Kinetic）的PC平台上使用 RealSense ZR300 的 fisheye camera (FOV: 100x133) + IMU 运行 我对VINS-Mono的改版 cggos/vins_mono_cg。

安装&运行 ZR300驱动

RealSense ZR300 的加速度计和陀螺仪的时间戳不是完全相同的（加速度计的频率为250Hz而陀螺仪的频率为200Hz），但是由于RealSense ZR300的时间戳是在硬件上打的，不是操作系统接收到到图像和IMU的时间戳，所以可以通过 插值 的方式使它们的时间戳对齐。

这里使用 maplab 推荐的驱动：ethz-asl 的 maplab_realsense，对IMU的陀螺仪、加速度计、图像的时间戳做了对齐处理。

• 安装 librealsense

  sudo apt install ros-${ROS_VERSION}-librealsense
  

• 安装 maplab_realsense

  mkdir -p ws_realsense/src
  cd ws_realsense/src
  git clone https://github.com/ethz-asl/maplab_realsense.git
  wstool init
  wstool merge maplab_realsense/dependencies.rosinstall
  wstool update -j4
  cd ../
  catkin build
  

• 运行 maplab_realsense

  source devel/setup.bash
  roslaunch maplab_realsense maplab_realsense.launch
  

  正常运行界面如下：

  

  注意：若运行错误，可尝试运行多次，或者 更换尝试更换USB口。

  其 Topic list：

  /rosout
  /rosout_agg
  /tf_static
  /zr300_node/color/camera_info
  /zr300_node/color/image_raw
  /zr300_node/color/image_raw/compressed
  /zr300_node/color/image_raw/compressed/parameter_descriptions
  /zr300_node/color/image_raw/compressed/parameter_updates
  /zr300_node/color/image_raw/compressedDepth
  /zr300_node/color/image_raw/compressedDepth/parameter_descriptions
  /zr300_node/color/image_raw/compressedDepth/parameter_updates
  /zr300_node/color/image_raw/theora
  /zr300_node/color/image_raw/theora/parameter_descriptions
  /zr300_node/color/image_raw/theora/parameter_updates
  /zr300_node/depth/camera_info
  /zr300_node/device_time
  /zr300_node/device_time/parameter_descriptions
  /zr300_node/device_time/parameter_updates
  /zr300_node/fisheye/camera_info
  /zr300_node/fisheye/image_raw
  /zr300_node/fisheye/image_raw/compressed
  /zr300_node/fisheye/image_raw/compressed/parameter_descriptions
  /zr300_node/fisheye/image_raw/compressed/parameter_updates
  /zr300_node/fisheye/image_raw/compressedDepth
  /zr300_node/fisheye/image_raw/compressedDepth/parameter_descriptions
  /zr300_node/fisheye/image_raw/compressedDepth/parameter_updates
  /zr300_node/fisheye/image_raw/theora
  /zr300_node/fisheye/image_raw/theora/parameter_descriptions
  /zr300_node/fisheye/image_raw/theora/parameter_updates
  /zr300_node/imu
  /zr300_node/ir_1/camera_info
  /zr300_node/ir_1/image_raw
  /zr300_node/ir_1/image_raw/compressed
  /zr300_node/ir_1/image_raw/compressed/parameter_descriptions
  /zr300_node/ir_1/image_raw/compressed/parameter_updates
  /zr300_node/ir_1/image_raw/compressedDepth
  /zr300_node/ir_1/image_raw/compressedDepth/parameter_descriptions
  /zr300_node/ir_1/image_raw/compressedDepth/parameter_updates
  /zr300_node/ir_1/image_raw/theora
  /zr300_node/ir_1/image_raw/theora/parameter_descriptions
  /zr300_node/ir_1/image_raw/theora/parameter_updates
  /zr300_node/ir_2/camera_info
  /zr300_node/ir_2/image_raw
  /zr300_node/ir_2/image_raw/compressed
  /zr300_node/ir_2/image_raw/compressed/parameter_descriptions
  /zr300_node/ir_2/image_raw/compressed/parameter_updates
  /zr300_node/ir_2/image_raw/compressedDepth
  /zr300_node/ir_2/image_raw/compressedDepth/parameter_descriptions
  /zr300_node/ir_2/image_raw/compressedDepth/parameter_updates
  /zr300_node/ir_2/image_raw/theora
  /zr300_node/ir_2/image_raw/theora/parameter_descriptions
  /zr300_node/ir_2/image_raw/theora/parameter_updates
  /zr300_node/pointcloud
  

标定 ZR300

使用 kalibr 对 ZR300 进行标定，标定方法可参考 Kalibr 之 Camera-IMU 标定 (总结)。

安装&运行 VINS-Mono

这里使用 我对VINS-Mono的改版 cggos/vins_mono_cg，配置文件或者标定参数均使用VINS-Mono默认文件。

• 安装 Dependencies

  • eigen3
  • ceres-solver

• 安装 vins_mono_cg

  mkdir -p ws_vins/src
  cd ws_vins/src
  git clone https://github.com/cggos/vins_mono_cg.git
  cd ../
  catkin_make -j3
  

• 修改 config/realsense/realsense_fisheye_config.yaml

  imu_topic:   "/zr300_node/imu"
  image_topic: "/zr300_node/fisheye/image_raw"
  output_path: "./output/"
  

• 运行 vins_mono_cg

  roslaunch vins_estimator realsense_fisheye.launch