INDEMIND相机运行ORB2-slam。

本文采用基于使用自己的INDEMIND相机来运行ORBSLAM2单目,双目和深度模式博客的方法来运行。

主要为以下几步：

1. 基于官网提供的sdk：https://imsee-sdk-docs.readthedocs.io/zh/latest/来创建基于ros的topic。

#这里用sudo -s可以不切换用户环境
sudo -s 
source <sdk_ros_ws>/devel/setup.sh
roslaunch imsee_ros_wrapper start.launch
#或 display.launch打开rviz显示topic
roslaunch imsee_ros_wrapper display.launch
#新开终端，打印查看topic信息，主要查看左右摄像头发布的topic名称
rostopic list

2. 下载编译orb2

cd catkin_ws/src
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh

chmod +x build_ros.sh
./build_ros.sh

编译遇到问题，参见https://blog.csdn.net/weishaodong/article/details/106640171
其中:

[rosbuild] rospack found package “ORB_SLAM3” at “”, but the current directory is “/home/xxx/ORB_SLAM3/Examples/ROS/ORB_SLAM3”. You should double-check your ROS_PACKAGE_PATH to ensure that packages are found in the correct precedence order.
的问题，可以用以下命令解决：
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:[ORB_SLAM3_home_dir]/Examples/ROS/ORB_SLAM3

3. 修改相机标定及orb配置文件；
   可以基于ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asus.yaml对应更改相机的标定值。
   INDEMIND的两个相机是由同一个节点imsee_ros_wrapper发布的。因此使用camera_calibration工具可能会有问题。
   参考：
   ROS下单目和双目相机的标定
   在ROS中实现双目相机校正
   双目相机标定和orbslam2双目参数详解
   本人尝试
   1.基于SDK-Linux/lib/1804/headset.yaml改的。
   2.使用camera_calibration标定。
   启动标定：

rosrun camera_calibration cameracalibrator.py --size 8x6 square 0.019 --no-service-check  right:=/camera/right/image_raw left:=/camera/left/image_raw

标定板：

标定的结果填入Asus.yaml。$k1,k2,p1,p2,k3$为相机畸变调整参数。$f_x,f_y$为焦距；$c_x,c_y$为图像中心。$bf=baseline\ast f_x$
$distortion=[k1,k2,p1,p2,k3]$
$camera\_matrix=\begin{array}{ccc}{f}_x& 0& c_x\\ & & \\ 0& f_y& c_y\\ & & \\ 0& 0& 1\\ & & \end{array}$
$projection=\begin{array}{cccc}f{x}^{\prime }& 0.0& c{x}^{\prime }& -bf\\ & & & \\ 0.0& f{y}^{\prime }& c{y}^{\prime }& 0.0\\ & & & \\ 0.0& 0.0& 1.0& 0.0\\ & & & \end{array}$
附上本人所用的配置文件Asus.yaml的标定部分内容：

Camera.fx: 253.58
Camera.fy: 253.72
Camera.cx: 315.47
Camera.cy: 203.78

Camera.k1: 0.138
Camera.k2: -0.111
Camera.p1: -0.005
Camera.p2: -0.005

Camera.width: 640
Camera.height: 400
# Camera frames per second
Camera.fps: 50.0
# IR projector baseline times fx (aprox.)
Camera.bf: 34.6
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 40.0
# Deptmap values factor
DepthMapFactor: 1.0

4. 修改或remapORB2订阅的image topic。
   使用自己的INDEMIND相机来运行ORBSLAM2博客中是将ros_stereo.cc中的sub节点更改为imsee_ros_wrapper发布的topic名称，但是在启动orb后，一直卡在waiting for image。

   本人修改imsee_ros_wrapper下的IMSEE-SDK/ros/src/imsee_ros_wrapper/launch/start.launch文件。如下：将imsee_ros_wrapper发布的topic名映射为orb接收图像topic使用的topic名。

<?xml version="1.0"?> 
<launch> 
  <arg name="imsee" default="imsee" /> 
  <group ns="$(arg imsee)">  
       <node name="imsee_wrapper_node" pkg="imsee_ros_wrapper" type="imsee_wrapper_node" output="screen" respawn="true" respawn_delay="10"> 
          <remap from="/imsee/image/left" to="/camera/left/image_raw" />  
          <remap from="/imsee/image/right" to="/camera/right/image_raw" /> 
       <rosparam file="$(find imsee_ros_wrapper)/config/settings.yaml" command="load" /> 
    </node>
  </group>
</launch>

5. 启动ORB2：
   将orb2编译好的libORB_SLAM2.so放到~/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/lib下，并
   在~/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeLists.txt添加以下内容，29行endif后添加：

link_directories(${PROJECT_SOURCE_DIR}/…/…/…/lib)

编译ORB，执行~/catkin_ws/src/ORB_SLAM2/build_ros.sh

编译完成后，执行以下命令，启动ORB：
启动方式1：

cd ~/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2
source ~/catkin_ws/devel/setup.sh
rosrun  ORB_SLAM2  Stereo ../../../Vocabulary/ORBvoc.txt Asus.yaml false

启动方式2：
在~/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/launch添加start.launch文件，内容如下：

<?xml version="1.0"?>
<launch>
 <node name="Stereo" pkg="ORB_SLAM2" type="Stereo" 
	args=" $(find ORB_SLAM2)../../../Vocabulary/ORBvoc.txt $(find ORB_SLAM2)Asus_imsee.yaml false" 
	output="screen" respawn="true" respawn_delay="10">
 </node>
</launch> 

完成launch文件后，执行以下命令：

cd ~/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2
source ~/catkin_ws/devel/setup.sh
roslaunch ORB_SLAM2 start.launch

遇到问题：

1. libMNN.so: cannot open shared object file: No such file or directory

[ERROR] [1593354623.672179613]: Failed to load nodelet [/imsee/imsee_wrapper_node] of type [imsee/ROSWrapperNodelet] even after refreshing the cache: Failed to load library /home/xxx/Download/opensource/INDEMIND/IMSEE-SDK/ros/devel/lib//libimsee_wrapper.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libMNN.so: cannot open shared object file: No such file or directory)

解决：
依照sdk安装libMNN。

2. 关于ros melodic 默认安装opencv的3.2版本，因此在启动imsee_ros_wrapper时，报以下错错误：libopencv_calib3d3.so.3.3: cannot open shared object file: No such file or directory。
   解决：
   将IMSEE-SDK/lib/others/x64-opencv3.4.3/libindemind.so的包，替换掉IMSEE-SDK/lib/x86-64/libindemind.so。注意根据你的机器cpu配置更改。
   重新编译opencv3.4.3版本，参考：

git clone https://github.com/opencv/opencv.git
cd opencv/
git checkout tags/3.4.３

mkdir build
cd build/

cmake \
-DCMAKE_BUILD_TYPE=RELEASE \
-DCMAKE_INSTALL_PREFIX=/usr/local \
\
-DWITH_CUDA=OFF \
\
-DBUILD_DOCS=OFF \
-DBUILD_EXAMPLES=OFF \
-DBUILD_TESTS=OFF \
-DBUILD_PERF_TESTS=OFF \
..

make -j4
sudo make install

3. 关于orb启动后，段错误的问题：
   解决：
   参考：段错误的解决方案—之-march=native
   将g2o及orbslam2根目库下的cmakeLists.txt去掉里面的 -march=native，重新编译生成libORB_SLAM2.so，并拷贝到Stereo能ld的位置，可参考上述的步骤2。
4. 编译找不到error "unsleep"的，在源文件中添加以下内容，引入unistd.h头文件

#include <unistd.h>

5. ./build_ros.sh时，报如下错误：
   [rosbuild] rospack found package "ORB_SLAM2" at "", but the current directory is "/home/angelo/ORB_SLAM2/Examples/ROS/ORB_SLAM2". You should double-check your ROS_PACKAGE_PATH to ensure that packages are found in the correct precedence order.
   解决方法01：
   export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
   解决方法2：
   sudo ln -s ~/ORB_SLAM2/Examples/ROS/ORB_SLAM2 /opt/ros/<ros版本名>/share/ORB_SLAM2
   以上方法选其1，然后再./build_ros.sh。