1、编译
cd ~/msckf
catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release
2、运行（运行euroc数据集）
首先roscore开启ros节点
cd ~/msckf
source ~/msckf/devel/setup.bash
roslaunch msckf_vio msckf_vio_euroc.launch
cd ~/msckf
source ~/msckf/devel/setup.bash
rosrun rviz rviz -d /home/dyt/msckf/src/msckf_vio/rviz/rviz_euroc_config.rviz
cd ~/msckf
source ~/msckf/devel/setup.bash
rosbag play /home/dyt/DYT/compare/euroc6/MH_05/data.bag
3、运行（运行tum数据集）
首先roscore开启ros节点
cd ~/msckf
source ~/msckf/devel/setup.bash
roslaunch msckf_vio msckf_vio_tum.launch
cd ~/msckf
source ~/msckf/devel/setup.bash
rosrun rviz rviz -d /home/dyt/msckf/src/msckf_vio/rviz/rviz_tum_config.rviz
cd ~/msckf
source ~/msckf/devel/setup.bash
rosbag play /home/dyt/DYT/compare/tum/room1/data.bag
4、运行（运行kitti数据集）
首先roscore开启ros节点
cd ~/msckf
source ~/msckf/devel/setup.bash
roslaunch msckf_vio msckf_vio_kitti.launch
cd ~/msckf
source ~/msckf/devel/setup.bash
rosrun rviz rviz -d /home/dyt/msckf/src/msckf_vio/rviz/rviz_kitti_config.rviz
cd ~/msckf
source ~/msckf/devel/setup.bash
rosbag play /home/dyt/compare11/kitti/kitti2bag-master/kitti2bag/kitti_2011_10_03_drive_0042_synced.bag
运行KITTI数据集：
1、首先需要处理kitti数据集，使用kitti2bag工具，运行Python指令：
python kitti2bag1.py raw_synced /home/dyt/ -t 2011_10_03 -r 0042
代码如下：
#!env python
# -*- coding: utf-8 -*-
import sys
try:
import pykitti
except ImportError as e:
print('Could not load module \'pykitti\'. Please run `pip install pykitti`')
sys.exit(1)
import tf
import os
import cv2
import rospy
import rosbag
import progressbar
from tf2_msgs.msg import TFMessage
from datetime import datetime
from std_msgs.msg import Header
from sensor_msgs.msg import CameraInfo, Imu, PointField, NavSatFix
import sensor_msgs.point_cloud2 as pcl2
from geometry_msgs.msg import TransformStamped, TwistStamped, Transform
from cv_bridge import CvBridge
import numpy as np
import argparse
def save_imu_data(bag, kitti, imu_frame_id, topic):
print("Exporting IMU")
for timestamp, oxts in zip(kitti.timestamps, kitti.oxts):
q = tf.transformations.quaternion_from_euler(
oxts.packet.roll, oxts.packet.pitch, oxts.packet.yaw)
imu = Imu()
imu.header.frame_id = imu_frame_id
imu.header.stamp = rospy.Time.from_sec(
float(timestamp.strftime("%s.%f")))
imu.orientation.x = q[0]
imu.orientation.y = q[1]
imu.orientation.z = q[2]
imu.orientation.w = q[3]
imu.linear_acceleration.x = oxts.packet.ax
imu.linear_acceleration.y = oxts.packet.ay
imu.linear_acceleration.z = oxts.packet.az
imu.angular_velocity.x = oxts.packet.wx
imu.angular_velocity.y = oxts.packet.wy
imu.angular_velocity.z = oxts.packet.wz
bag.write(topic, imu, t=imu.header.stamp)
def save_dynamic_tf(bag, kitti, kitti_type, initial_time):
print("Exporting time dependent transformations")
if kitti_type.find("raw") != -1:
for timestamp, oxts in zip(kitti.timestamps, kitti.oxts):
tf_oxts_msg = TFMessage()
tf_oxts_transform = TransformStamped()
tf_oxts_transform.header.stamp = rospy.Time.from_sec(float(timestamp.strftime("%s.%f")))
tf_oxts_transform.header.frame_id = 'world'
tf_oxts_transform.child_frame_id = 'base_link'
transform = (oxts.T_w_imu)
t = transform[0:3, 3]
q = tf.transformations.quaternion_from_matrix(transform)
oxts_tf = Transform()
oxts_tf.translation.x = t[0]
oxts_tf.translation.y = t[1]
oxts_tf.translation.z = t[2]
oxts_tf.rotation.x = q[0]
oxts_tf.rotation.y = q[1]
oxts_tf.rotation.z = q[2]
oxts_tf.rotation.w = q[3]
tf_oxts_transform.transform = oxts_tf
tf_oxts_msg.transforms.append(tf_oxts_transform)
bag.write('/tf', tf_oxts_msg, tf_oxts_msg.transforms[0].header.stamp)
elif kitti_type.find("odom") != -1:
timestamps = map(lambda x: initial_time + x.total_seconds(), kitti.timestamps)
for timestamp, tf_matrix in zip(timestamps, kitti.T_w_cam0):
tf_msg = TFMessage()
tf_stamped = TransformStamped()
tf_stamped.header.stamp = rospy.Time.from_sec(timestamp)
tf_stamped.header.frame_id = 'world'
tf_stamped.child_frame_id = 'camera_left'
t = tf_matrix[0:3, 3]
q = tf.transformations.quaternion_from_matrix(tf_matrix)
transform = Transform()
transform.translation.x = t[0]
transform.translation.y = t[1]
transform.translation.z = t[2]
transform.rotation.x = q[0]
transform.rotation.y = q[1]
transform.rotation.z = q[2]
transform.rotation.w = q[3]
tf_stamped.transform = transform
tf_msg.transforms.append(tf_stamped)
bag.write('/tf', tf_msg, tf_msg.transforms[0].header.stamp)
def save_camera_data(bag, kitti_type, kitti, util, bridge, camera, camera_frame_id, topic, initial_time):
print("Exporting camera {}".format(camera))
if kitti_type.find("raw") != -1:
camera_pad = '{0:02d}'.format(camera)
image_dir = os.path.join(kitti.data_path, 'image_{}'.format(camera_pad))
image_path = os.path.join(image_dir, 'data')
image_filenames = sorted(os.listdir(image_path))
with open(os.path.join(image_dir, 'timestamps.txt')) as f:
image_datetimes = map(lambda x: datetime.strptime(x[:-4], '%Y-%m-%d %H:%M:%S.%f'), f.readlines())
calib = CameraInfo()
calib.header.frame_id = camera_frame_id
calib.width, calib.height = tuple(util['S_rect_{}'.format(camera_pad)].tolist())
calib.distortion_model = 'plumb_bob'
calib.K = util['K_{}'.format(camera_pad)]
calib.R = util['R_rect_{}'.format(camera_pad)]
calib.D = util['D_{}'.format(camera_pad)]
calib.P = util['P_rect_{}'.format(camera_pad)]
elif kitti_type.find("odom") != -1:
camera_pad = '{0:01d}'.format(camera)
image_path = os.path.join(kitti.sequence_path, 'image_{}'.format(camera_pad))
image_filenames = sorted(os.listdir(image_path))
image_datetimes = map(lambda x: initial_time + x.total_seconds(), kitti.timestamps)
calib = CameraInfo()
calib.header.frame_id = camera_frame_id
calib.P = util['P{}'.format(camera_pad)]
iterable = zip(image_datetimes, image_filenames)
bar = progressbar.ProgressBar()
for dt, filename in bar(iterable):
image_filename = os.path.join(image_path, filename)
cv_image = cv2.imread(image_filename)
calib.height, calib.width = cv_image.shape[:2]
if camera in (0, 1):
cv_image = cv2.cvtColor(cv_image, cv2.COLOR_BGR2GRAY)
encoding = "mono8" if camera in (0, 1) else "bgr8"
image_message = bridge.cv2_to_imgmsg(cv_image, encoding=encoding)
image_message.header.frame_id = camera_frame_id
if kitti_type.find("raw") != -1:
image_message.header.stamp = rospy.Time.from_sec(float(datetime.strftime(dt, "%s.%f")))
topic_ext = "/image_raw"
elif kitti_type.find("odom") != -1:
image_message.header.stamp = rospy.Time.from_sec(dt)
topic_ext = "/image_rect"
calib.header.stamp = image_message.header.stamp
bag.write(topic + topic_ext, image_message, t = image_message.header.stamp)
bag.write(topic + '/camera_info', calib, t = calib.header.stamp)
def get_static_transform(from_frame_id, to_frame_id, transform):
t = transform[0:3, 3]
q = tf.transformations.quaternion_from_matrix(transform)
tf_msg = TransformStamped()
tf_msg.header.frame_id = from_frame_id
tf_msg.child_frame_id = to_frame_id
tf_msg.transform.translation.x = float(t[0])
tf_msg.transform.translation.y = float(t[1])
tf_msg.transform.translation.z = float(t[2])
tf_msg.transform.rotation.x = float(q[0])
tf_msg.transform.rotation.y = float(q[1])
tf_msg.transform.rotation.z = float(q[2])
tf_msg.transform.rotation.w = float(q[3])
return tf_msg
def inv(transform):
"Invert rigid body transformation matrix"
R = transform[0:3, 0:3]
t = transform[0:3, 3]
t_inv = -1 * R.T.dot(t)
transform_inv = np.eye(4)
transform_inv[0:3, 0:3] = R.T
transform_inv[0:3, 3] = t_inv
return transform_inv
def save_static_transforms(bag, transforms, timestamps):
print("Exporting static transformations")
tfm = TFMessage()
for transform in transforms:
t = get_static_transform(from_frame_id=transform[0], to_frame_id=transform[1], transform=transform[2])
tfm.transforms.append(t)
for timestamp in timestamps:
time = rospy.Time.from_sec(float(timestamp.strftime("%s.%f")))
for i in range(len(tfm.transforms)):
tfm.transforms[i].header.stamp = time
bag.write('/tf_static', tfm, t=time)
def run_kitti2bag():
parser = argparse.ArgumentParser(description = "Convert KITTI dataset to ROS bag file the easy way!")
# Accepted argument values
kitti_types = ["raw_synced", "odom_color", "odom_gray"]
odometry_sequences = []
for s in range(22):
odometry_sequences.append(str(s).zfill(2))
parser.add_argument("kitti_type", choices = kitti_types, help = "KITTI dataset type")
parser.add_argument("dir", nargs = "?", default = os.getcwd(), help = "base directory of the dataset, if no directory passed the deafult is current working directory")
parser.add_argument("-t", "--date", help = "date of the raw dataset (i.e. 2011_09_26), option is only for RAW datasets.")
parser.add_argument("-r", "--drive", help = "drive number of the raw dataset (i.e. 0001), option is only for RAW datasets.")
parser.add_argument("-s", "--sequence", choices = odometry_sequences,help = "sequence of the odometry dataset (between 00 - 21), option is only for ODOMETRY datasets.")
args = parser.parse_args()
bridge = CvBridge()
compression = rosbag.Compression.NONE
# compression = rosbag.Compression.BZ2
# compression = rosbag.Compression.LZ4
# CAMERAS
cameras = [
(0, 'camera_gray_left', '/kitti/camera_gray_left'),
(1, 'camera_gray_right', '/kitti/camera_gray_right')
]
if args.kitti_type.find("raw") != -1:
if args.date == None:
print("Date option is not given. It is mandatory for raw dataset.")
print("Usage for raw dataset: kitti2bag raw_synced [dir] -t <date> -r <drive>")
sys.exit(1)
elif args.drive == None:
print("Drive option is not given. It is mandatory for raw dataset.")
print("Usage for raw dataset: kitti2bag raw_synced [dir] -t <date> -r <drive>")
sys.exit(1)
bag = rosbag.Bag("kitti_{}_drive_{}_{}.bag".format(args.date, args.drive, args.kitti_type[4:]), 'w', compression=compression)
kitti = pykitti.raw(args.dir, args.date, args.drive)
if not os.path.exists(kitti.data_path):
print('Path {} does not exists. Exiting.'.format(kitti.data_path))
sys.exit(1)
if len(kitti.timestamps) == 0:
print('Dataset is empty? Exiting.')
sys.exit(1)
try:
# IMU
imu_frame_id = 'imu_link'
imu_topic = '/kitti/oxts/imu'
T_base_link_to_imu = np.eye(4, 4)
T_base_link_to_imu[0:3, 3] = [-2.71/2.0-0.05, 0.32, 0.93]
# tf_static
transforms = [
('base_link', imu_frame_id, T_base_link_to_imu),
(imu_frame_id, cameras[0][1], inv(kitti.calib.T_cam0_imu)),
(imu_frame_id, cameras[1][1], inv(kitti.calib.T_cam1_imu))
]
util = pykitti.utils.read_calib_file(os.path.join(kitti.calib_path, 'calib_cam_to_cam.txt'))
# Export
save_static_transforms(bag, transforms, kitti.timestamps)
save_dynamic_tf(bag, kitti, args.kitti_type, initial_time=None)
save_imu_data(bag, kitti, imu_frame_id, imu_topic)
for camera in cameras:
save_camera_data(bag, args.kitti_type, kitti, util, bridge,
camera=camera[0], camera_frame_id=camera[1], topic=camera[2], initial_time=None)
finally:
print("## OVERVIEW ##")
print(bag)
bag.close()
elif args.kitti_type.find("odom") != -1:
if args.sequence == None:
print("Sequence option is not given. It is mandatory for odometry dataset.")
print("Usage for odometry dataset: kitti2bag {odom_color, odom_gray} [dir] -s <sequence>")
sys.exit(1)
bag = rosbag.Bag("kitti_data_odometry_{}_sequence_{}.bag".format(args.kitti_type[5:],args.sequence), 'w', compression=compression)
kitti = pykitti.odometry(args.dir, args.sequence)
if not os.path.exists(kitti.sequence_path):
print('Path {} does not exists. Exiting.'.format(kitti.sequence_path))
sys.exit(1)
kitti.load_calib()
kitti.load_timestamps()
if len(kitti.timestamps) == 0:
print('Dataset is empty? Exiting.')
sys.exit(1)
if args.sequence in odometry_sequences[:11]:
print("Odometry dataset sequence {} has ground truth information (poses).".format(args.sequence))
kitti.load_poses()
try:
util = pykitti.utils.read_calib_file(os.path.join(args.dir,'sequences',args.sequence, 'calib.txt'))
current_epoch = (datetime.utcnow() - datetime(1970, 1, 1)).total_seconds()
# Export
if args.kitti_type.find("gray") != -1:
used_cameras = cameras[:2]
elif args.kitti_type.find("color") != -1:
used_cameras = cameras[-2:]
save_dynamic_tf(bag, kitti, args.kitti_type, initial_time=current_epoch)
for camera in used_cameras:
save_camera_data(bag, args.kitti_type, kitti, util, bridge, camera=camera[0], camera_frame_id=camera[1], topic=camera[2], initial_time=current_epoch)
finally:
print("## OVERVIEW ##")
print(bag)
bag.close()
if __name__ == '__main__':
run_kitti2bag()
查看topic：
rosbag info kitti_2011_10_03_drive_0042_synced.bag
2、在msckf_vio里面新建launch文件和yaml文件，注意旋转矩阵需要修改。
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