Realsense ROS D435i ORB_SLAM2

目录

• 参考

 

 

 

注：在执行./build.sh之前先在 /ORB_SLAM2/include/System.h文件开头的包含声明中添加#include <unistd.h>，不然会编译时会报错error: usleep is not declared in this scope

 

 

 

安装eigen

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cd eigen mkdir build cd build cmake .. sudo make install

　　

 

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1	sudo apt-get install libsuitesparse-dev

　　

 

 

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1 2	cd ORB_SLAM2 ./build.sh

　　

 

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cd vim .bashrc export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/ORB_SLAM2/Examples/ROS source .bashrc

　　

错误

 

上述步骤中在执行./build_ros.sh会出现关于boost库的错误，在/ORB_SLAM2/Examples/ROS/ORB-SLAM2/CMakeLists.txt文件下修改，按照下述位置加上-lboost_system，然后重新执行./build_ros.sh

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// CMakeLists.txt文件部分内容节选如下 set(LIBS ${OpenCV_LIBS} ${EIGEN3_LIBS} ${Pangolin_LIBRARIES} ${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so ${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so -lboost_system             // 此句加在这里 )

　　

 

 

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cd ORB_SLAM2 chmod +x build_ros.sh ./build_ros.sh

　　

 获取相机参数

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roslaunch realsense2_camera rs_rgbd.launch #新开终端运行以下命令： rostopic echo /camera/color/camera_info

　　

 

在ORB_SLAM2/Examples/RGB-D/下新建D435i.yaml文件，内容根据上述终端输出的参数修改

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%YAML:1.0 #-------------------------------------------------------------------------------------------- # Camera Parameters. Adjust them! #-------------------------------------------------------------------------------------------- # Camera calibration and distortion parameters (OpenCV)   Camera.fx: 612.8856811523438 Camera.fy: 612.9019775390625 Camera.cx: 322.271240234375 Camera.cy: 244.7898712158203   Camera.k1: 0.0 Camera.k2: 0.0 Camera.p1: 0.0 Camera.p2: 0.0 Camera.p3: 0.0   Camera.width: 640 Camera.height: 480   # Camera frames per second Camera.fps: 30.0   # IR projector baseline times fx (aprox.) # bf = baseline (in meters) * fx, D435i的 baseline = 50 mm Camera.bf: 30.797     # 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: 1000.0   #-------------------------------------------------------------------------------------------- # ORB Parameters #--------------------------------------------------------------------------------------------   # ORB Extractor: Number of features per image ORBextractor.nFeatures: 1000   # ORB Extractor: Scale factor between levels in the scale pyramid   ORBextractor.scaleFactor: 1.2   # ORB Extractor: Number of levels in the scale pyramid  ORBextractor.nLevels: 8   # ORB Extractor: Fast threshold # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST # You can lower these values if your images have low contrast           ORBextractor.iniThFAST: 20 ORBextractor.minThFAST: 7   #-------------------------------------------------------------------------------------------- # Viewer Parameters #--------------------------------------------------------------------------------------------   Viewer.KeyFrameSize: 0.05 Viewer.KeyFrameLineWidth: 1 Viewer.GraphLineWidth: 0.9 Viewer.PointSize:2 Viewer.CameraSize: 0.08 Viewer.CameraLineWidth: 3 Viewer.ViewpointX: 0 Viewer.ViewpointY: -0.7 Viewer.ViewpointZ: -1.8 Viewer.ViewpointF: 500

　　

 

 

摄像头节点发布的rgbd图和depth图话题名与ORB-SLAM2的订阅RGB图和depth图话题名不同，在ORB-SLAM2/Examples/ROS/ORB-SLAM2/src中修改ros_rgbd.cc的topic订阅：

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1 2	message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/camera/color/image_raw", 1); message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "/camera/aligned_depth_to_color/image_raw", 1);

　　

 

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# 重新编译build_ros.sh chmod +x build_ros.sh ./build_ros.sh

　　

 

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# 启动相机 roslaunch realsense2_camera rs_rgbd.launch # 运行ORB_SLAM2 rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/D435i.yaml

　　

 

 

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参考

https://blog.csdn.net/ssstarr/article/details/121089975

https://blog.csdn.net/qq_33950926/article/details/121129028

 

https://blog.csdn.net/rosfreshman/article/details/116404077