如何使用kinect2.0 跑通orbslamv2

今天记录一下如何使用orbslam跑通robslamv2：

首先需要安装kinect2.0的驱动，详见前面讲的博客。

接着需要标定kinect2，记住一定要进行标定，否则只要一动kinect，就会跑丢

好了，回到重点吧

step1：下载orbslam2，

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

安装需要的安装的驱动，这里直接见https://github.com/raulmur/ORB_SLAM2

在执行一下代码之前，首先需要改动3个地方：

第一个地方：在目录Example/ROS/ORBSLAM2/src/ros_rgbd.cc中：因为kinect发布的topic改变了，不是程序中默认的，所以需要改动，在启动

roslaunch kinect_bridge kinect_bridge.launch 后，执行rostopic list，查看发布的话题，本文为：

"/kinect2/hd/image_color"和"kinect2/hd/image_depth_rect"

第二个地方就是在～/.bashrc加入下面的ros环境变量，便于查找路径，代码如下：

xport ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/lizhi/ORB_SLAM2/Examples/ROS

第三个地方就是之前你自己标定相机参数，在TUM1.yaml将他改过来，我自己的参数为：

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 1.0467288481412274e+03
Camera.fy: 1.0481754542172425e+03
Camera.cx: 9.7306718807504012e+02
Camera.cy: 5.4801789979871785e+02

Camera.k1: 3.2019593488579724e-02
Camera.k2: -1.3038285760250972e-02
Camera.p1: 1.1981018792870713e-03
Camera.p2: -1.4350146086688656e-03
Camera.k3: -3.2574074881408052e-02

Camera.width: 1920
Camera.height: 1080

# Camera frames per second
Camera.fps: 30.0

# IR projector baseline times fx (aprox.)
Camera.bf: 40.0

# 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   yuanlai de shi 5000
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

step2：执行下面的代码就可跑数据集了

cd ORB_SLAM2

./build.sh

step3：用kinect2来实施跑动：

./build_ros.sh

接着执行：

rosrun ORB_SLAM2 RGBD  Vocabulary/ORBvoc.txt vi Examples/RGB-D/TUM1.yaml 即可

如果要跑通数据集，不需要第三步了，直接执行第二布即可。