在 ROS 中让 orbslam3 使用 realsense 库和 D455 multi camera 多相机

0、环境

• ubuntu-18.04
• ros1-melodic
• D455 相机（https://www.intelrealsense.com/zh-hans/depth-camera-d455）

1、安装 realsense（一个让 ros 可以使用相机的库）及其依赖

说明文档见 https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy

# sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
sudo apt-get install ros-melodic-realsense2-camera

2、启动相机节点并检查

1. 使用一个终端窗口启动相机节点，不要退出

roslaunch realsense2_camera rs_camera.launch

2. 使用 rosnode list 命令查看是否在运行

/camera/realsense2_camera
/camera/realsense2_camera_manager

4. 使用 rostopic list 命令查看可用 topic

/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/extrinsics/depth_to_color
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera/rgb_camera/auto_exposure_roi/parameter_updates
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates

3、使用相机节点

1. 使用 rqt_image_viewer 查看相机画面
   
2. 查看可见光相机分辨率、帧率、自动标定的参数

rostopic echo /camera/color/camera_info

结果如下，其中 D: [k1, k2, p1, p2, k3] 为畸变矩阵，K: [fx, 0, cx, 0, fy, cy, 0, 0, 1] 为内参矩阵

header:
  seq: 27396
  stamp:
    secs: 1684134718
    nsecs: 665443897
  frame_id: "camera_color_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"

D: [-0.059488698840141296, 0.07560079544782639, -0.00033220319892279804, -0.0005832613096572459, -0.02381760999560356]
K: [377.59320068359375, 0.0, 317.94189453125, 0.0, 377.1402282714844, 243.31692504882812, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [377.59320068359375, 0.0, 317.94189453125, 0.0, 0.0, 377.1402282714844, 243.31692504882812, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

3. 修改 orb-slam3 中的 ros_mono.cc 以使用 /camera/color/image_raw 话题发布的视频图像信息

ros::NodeHandle nodeHandler;
ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb);

修改为

ros::NodeHandle nodeHandler;
// ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb);
ros::Subscriber sub = nodeHandler.subscribe("/camera/color/image_raw", 1, &ImageGrabber::GrabImage,&igb);

然后修改 yaml 配置文件，编译运行即可。

4、使用 realsense 图形化界面

使用以下命令打开 realsense 图形化界面，可以对 imu 和深度信息进行可视化查看。

realsense-viewer