鸿邑科技 网站建设,网页的网站建设,asp.net网站开发工程师(c,微信引流推广 方法博主的合并代码gitgithub.com:huashu996/VINS-FUSION-ESDFmap.git一、D435i深度相机配置1.1 SDKROS参考我之前的博客#xff0c;步骤和所遇见的问题已经写的很详细了https://blog.csdn.net/HUASHUDEYANJING/article/details/129323834?spm1001.2014.3001.55011.2 相机标定参数…博主的合并代码gitgithub.com:huashu996/VINS-FUSION-ESDFmap.git一、D435i深度相机配置1.1 SDKROS参考我之前的博客步骤和所遇见的问题已经写的很详细了https://blog.csdn.net/HUASHUDEYANJING/article/details/129323834?spm1001.2014.3001.55011.2 相机标定参数1、相机内参通过rostopic的camera/info获取header标准消息头seq序列ID连续递增的ID号stamp两个时间戳frame_id与此数据相关联的帧IDheight图像尺寸height代表高度height*width相机的分辨率以像素为单位width图像尺寸width代表宽度height*width相机分辨率以像素为单位distortion_model指定了相机畸变模型对于大多数相机plumb_bob简单的径向和切向畸变模型就足够了D(distortion_parameters)畸变参数也叫失真系数取决于畸变模型(k1, k2, t1, t2, k3)K相机内参矩阵使用焦距(fx, fy)和主点坐标(cx, cy)单位为像素内参矩阵可以将相机坐标中的3D点投影到2D像素坐标数据顺序(fx,cx,fy,cy,1)R旋转矩阵将相机坐标系统对准理想的立体图像平面使两张立体图像中的极线平行仅对双目相机有效P投影矩阵左边3*3矩阵是相机的内参矩阵将相机坐标中的3D点投影到2D像素坐标可能与相机内参K不同。对于单目相机Tx Ty 0。对于双目相机Tx和Ty有所不同。binning_x图像下采样参数水平方向binning_y图像下采样参数竖直方向(width / binning_x) x (height / binning_y)下采样binning_x binning_y 1。缩小图像生成对应图像的缩略图使得图像符合显示区域的大小。roi感兴趣区域定义即完整图像上的一个矩形子窗口2.相机外参标定https://blog.csdn.net/qq_38364548/article/details/124917067二、VINS-FUSION环境配置2.1 重要环境配置如下ubuntu18.04ROSpcl 1.7opencv3ceres-solver-1.14.0整体环境配置还算简单要求不严格间要说明以下。ROSsudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport ros-melodic-octomap*Ceressudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libeigen3-dev libgtest-dev
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver/
mkdir build
cd build
cmake ..
make
sudo make install代码安装cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash三、实际测试运行3.1 D435I launch修改为了启动IMU双目摄像头launcharg nameserial_no default/arg nameusb_port_id default/arg namedevice_type default/arg namejson_file_path default/arg namecamera defaultcamera/arg nametf_prefix default$(arg camera)/arg nameexternal_manager defaultfalse/arg namemanager defaultrealsense2_camera_manager/arg namefisheye_width default640/arg namefisheye_height default480/arg nameenable_fisheye defaultfalse/arg namedepth_width default640/arg namedepth_height default480/arg nameenable_depth defaulttrue/arg nameinfra_width default640/arg nameinfra_height default480/arg nameenable_infra1 defaulttrue/arg nameenable_infra2 defaulttrue/arg namecolor_width default640/arg namecolor_height default480/arg nameenable_color defaulttrue/arg namefisheye_fps default30/arg namedepth_fps default30/arg nameinfra_fps default30/arg namecolor_fps default30/arg namegyro_fps default200/arg nameaccel_fps default250/arg nameenable_gyro defaulttrue/arg nameenable_accel defaulttrue/arg nameenable_pointcloud defaultfalse/arg namepointcloud_texture_stream defaultRS2_STREAM_COLOR/arg namepointcloud_texture_index default0/arg nameenable_sync defaulttrue/arg namealign_depth defaulttrue/arg namepublish_tf defaulttrue/arg nametf_publish_rate default0/arg namefilters default/arg nameclip_distance default-2/arg namelinear_accel_cov default0.01/arg nameinitial_reset defaultfalse/arg nameunite_imu_method defaultlinear_interpolation/arg nametopic_odom_in defaultodom_in/arg namecalib_odom_file default/arg namepublish_odom_tf defaulttrue/arg nameallow_no_texture_points defaultfalse/arg nameemitter_enable defaultfalse/!-- rosparam set /camera/stereo_module/emitter_enabled false --
rosparam/camera/stereo_module/emitter_enabled: 0
/rosparamrosparam if$(arg emitter_enable)/camera/stereo_module/emitter_enabled: 1
/rosparamgroup ns$(arg camera)include file$(find realsense2_camera)/launch/includes/nodelet.launch.xmlarg nametf_prefix value$(arg tf_prefix)/arg nameexternal_manager value$(arg external_manager)/arg namemanager value$(arg manager)/arg nameserial_no value$(arg serial_no)/arg nameusb_port_id value$(arg usb_port_id)/arg namedevice_type value$(arg device_type)/arg namejson_file_path value$(arg json_file_path)/arg nameenable_pointcloud value$(arg enable_pointcloud)/arg namepointcloud_texture_stream value$(arg pointcloud_texture_stream)/arg namepointcloud_texture_index value$(arg pointcloud_texture_index)/arg nameenable_sync value$(arg enable_sync)/arg namealign_depth value$(arg align_depth)/arg namefisheye_width value$(arg fisheye_width)/arg namefisheye_height value$(arg fisheye_height)/arg nameenable_fisheye value$(arg enable_fisheye)/arg namedepth_width value$(arg depth_width)/arg namedepth_height value$(arg depth_height)/arg nameenable_depth value$(arg enable_depth)/arg namecolor_width value$(arg color_width)/arg namecolor_height value$(arg color_height)/arg nameenable_color value$(arg enable_color)/arg nameinfra_width value$(arg infra_width)/arg nameinfra_height value$(arg infra_height)/arg nameenable_infra1 value$(arg enable_infra1)/arg nameenable_infra2 value$(arg enable_infra2)/arg namefisheye_fps value$(arg fisheye_fps)/arg namedepth_fps value$(arg depth_fps)/arg nameinfra_fps value$(arg infra_fps)/arg namecolor_fps value$(arg color_fps)/arg namegyro_fps value$(arg gyro_fps)/arg nameaccel_fps value$(arg accel_fps)/arg nameenable_gyro value$(arg enable_gyro)/arg nameenable_accel value$(arg enable_accel)/arg namepublish_tf value$(arg publish_tf)/arg nametf_publish_rate value$(arg tf_publish_rate)/arg namefilters value$(arg filters)/arg nameclip_distance value$(arg clip_distance)/arg namelinear_accel_cov value$(arg linear_accel_cov)/arg nameinitial_reset value$(arg initial_reset)/arg nameunite_imu_method value$(arg unite_imu_method)/arg nametopic_odom_in value$(arg topic_odom_in)/arg namecalib_odom_file value$(arg calib_odom_file)/arg namepublish_odom_tf value$(arg publish_odom_tf)/arg nameallow_no_texture_points value$(arg allow_no_texture_points)//include/group
/launch3.2 单目IMU修改配置文件VINS-FUSION/src/VINS-Fusion-RGBD/config/realsense/realsense_d435i_config.yaml主要修改相机的外参矩阵、内参矩阵、topic不修改也能运行漂移大。roslaunch realsense2_camera rs_camera_vins.launch
roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/realsense_d435i/realsense_d435i_config.yaml3.1 双目IMU修改配置文件VINS-FUSION/src/VINS-Fusion-RGBD/config/realsense/realsense_stereo_imu_config.yaml主要修改两个相机的外参矩阵、内参矩阵、topic。roslaunch realsense2_camera rs_camera_vins.launch
roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml四、ESDF建图4.1 下载代码编译cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/FIESTA
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash4.2 修改代码1.修改launchlaunchnode pkgfiesta typetest_fiesta namefiesta outputscreenrequiredtrueparam nameresolution value0.05/param nameupdate_esdf_every_n_sec value0.1/!--Hash Table only--param namereserved_size value1000000/!--Array only--param namelx value-10.0/param namely value-10.0/param namelz value-1/param namerx value10.0/param namery value10.0/param namerz value3/!-- raycasting parameters --param namemin_ray_length value0.5/param namemax_ray_length value5.0/!--If hash table is used, make sure the value is 0. In array implementation, 0 means no other thread.--param nameray_cast_num_thread value0/!-- needed when using depth image--param namecenter_x value381.91/param namecenter_y value241.553/param namefocal_x value609.738/param namefocal_y value608.557/!-- probabilistic grid map --param namep_hit value0.70/param namep_miss value0.35/param namep_min value0.12/param namep_max value0.97/param namep_occ value0.80/!-- global / local --param nameglobal_map valuetrue/param nameglobal_update valuetrue/param nameglobal_vis valuetrue/param nameradius_x value3.0/param nameradius_y value3.0/param nameradius_z value1.5/!--depth_filter --param nameuse_depth_filter valuetrue/param namedepth_filter_tolerance value0.1/param namedepth_filter_max_dist value10.0/param namedepth_filter_min_dist value0.1/!--unit: pixel--param namedepth_filter_margin value0/!-- visulization --!--0 for no visulize--param namevisualize_every_n_updates value10/param nameslice_vis_max_dist value2.0/!-- relative to the lz if array is used, relative to the origin if hash table is used --param nameslice_vis_level value1.6/param namevis_lower_bound value0/param namevis_upper_bound value10/!-- subsribe source --remap from~depth to/camera/depth/image_rect_raw/remap from~transform to/vins_estimator/camera_pose//nodenode namervizvisualisation pkgrviz typerviz outputlog args-d $(find fiesta)/demo.rviz /
/launch2.修改主函数FIESTA-master/src/FIESTA/test/test_fiesta.cpp默认是点云输入格式。#include Fiesta.hint main(int argc, char **argv) {ros::init(argc, argv, FIESTA);ros::NodeHandle node(~);//fiesta::Fiestasensor_msgs::PointCloud2::ConstPtr, geometry_msgs::TransformStamped::ConstPtr esdf_map(node);fiesta::Fiestasensor_msgs::Image::ConstPtr, nav_msgs::Odometry::ConstPtr esdf_map(node);fiesta::Fiestasensor_msgs::Image::ConstPtr, nav_msgs::Odometry::ConstPtr esdf_map(node);ros::spin();return 0;
}4.3 运行roslaunch fiesta D435i.launch运行效果图双目单目
