D435i_vinsmono

目录

（1）安装测试librealsense SDK 2.0

1.

2.

3.

以上不行的话，参考：

5.

（2）安装测试realsense

错误1：

解决：

（3）安装测试VINS-Mono

（4）在D435i上运行VINS-Mono

1.修改路径

2.

3.设置好realsense 的输出尺寸

4.一定要设置好两套的尺寸

5.运行vins mono in D435i

---

（1）安装测试librealsense SDK 2.0

参考：librealsense/distribution_linux.md at master · IntelRealSense/librealsense · GitHub

参考：从零开始使用Realsense D435i运行VINS-Mono_Jichao_Peng的博客-CSDN博客

1.

curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xF6E65AC044F831AC80A06380C8B3A55A6F3EFCDE' | sudo apt-key add -

转换mat包失败 还是使用unite的数据吧

Z.官方的包

2.

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u

3.

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

以上不行的话，参考：

sudo apt-get install git cmake3
sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-get install libssl-dev
sudo apt-get install libusb-1.0-0-dev pkg-config libgtk-3-dev

git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
mkdir Release
cd Release
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true.. 
make -j2 #(or -j4 if you have a quad core)
sudo make install

5.

realsense-viewer

把三个部分的都打开 111

（2）安装测试realsense

cd ~/catkin_ws/src
git clone https://github.com/intel-ros/realsense.git
cd ..
catkin_make
rospack profile
source devel/setup.sh

错误1：

Could not find the required component ‘ddynamic_reconfigure‘.问题解决

解决：

sudo apt-get install ros-kinetic-ddynamic-reconfigure

rviz显示点云

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
rosrun rviz rviz

（3）安装测试VINS-Mono

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash

roslaunch vins_estimator euroc.launch 
roslaunch vins_estimator vins_rviz.launch

rosbag play /home/k/dataset/euroc/MH_01_easy.bag 

rosbag play /home/k/sdb2_data/dataset/euroc/MH_01_easy.bag 

出现问题：参考：Issue with catkin_make · Issue #4 · ydsf16/dre_slam · GitHub

安装ceres1.14.0 解决！！！！

错误：

参考：Build error ‘integer_sequence’ is not a member of ‘std’ · Issue #372 · HKUST-Aerial-Robotics/VINS-Mono · GitHub

（4）在D435i上运行VINS-Mono

参考：从零开始使用Realsense D435i运行VINS-Mono_Jichao_Peng的博客-CSDN博客

1.修改路径

/home/k/catkin_ws/src/realsense/realsense2_camera/launch/rs_camera.launch

2.

/home/k/catkin_ws/src/VINS-Mono/config/realsense/realsense_color_config.yaml

相机P矩阵：相机几何学——相机投影矩阵（ Camera Projection Matrix）_小小顺利的博客-CSDN博客_相机投影矩阵

3.设置好realsense 的输出尺寸

  <arg name="color_width"         default="848"/>
  <arg name="color_height"        default="480"/>
  <arg name="enable_color"        default="true"/>



color_fps 30

4.一定要设置好两套的尺寸

否则会出现以下的问题：

no previous pose graph
OpenCV Error: Assertion failed (_mask.empty() || (_mask.type() == (((0) & ((1 << 3) - 1)) + (((1)-1) << 3)) && _mask.sameSize(_image))) in goodFeaturesToTrack, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/imgproc/src/featureselect.cpp, line 366
terminate called after throwing an instance of 'cv::Exception'
  what():  /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/imgproc/src/featureselect.cpp:366: error: (-215) _mask.empty() || (_mask.type() == (((0) & ((1 << 3) - 1)) + (((1)-1) << 3)) && _mask.sameSize(_image)) in function goodFeaturesToTrack

[feature_tracker-1] process has died [pid 28321, exit code -6, cmd /home/k/catkin_ws/devel/lib/feature_tracker/feature_tracker __name:=feature_tracker __log:=/home/k/.ros/log/6cc297dc-da08-11eb-9403-244bfeccb575/feature_tracker-1.log].
log file: /home/k/.ros/log/6cc297dc-da08-11eb-9403-244bfeccb575/feature_tracker-1*.log
^C[pose_graph-3] killing on exit
[vins_estimator-2] killing on exit
terminate called without an active exception
terminate called without an active exception
shutting down processing monitor...
... shutting down processing monitor complete

具体原因是masksize和picsize尺寸不一：

            if (mask.size() != forw_img.size()){
                cout << "wrong size111 " << endl;
                cout<<"mask.size()"<<mask.size()<<endl;
                cout<<"forw_img.size()"<<forw_img.size()<<endl;
            }

查看log文件

cat  XXX.log

5.运行vins mono in D435i

roslaunch realsense2_camera rs_camera.launch
roslaunch vins_estimator realsense_color.launch
roslaunch vins_estimator vins_rviz.launch