视觉SLAM | 使用RealsenseD435i运行VINS-Fusion
使用RealsenseD435i运行VINS-Fusion
VINS-Fusion是基于双目的视觉惯导方案，不太符合我目前的需求，但这是我使用的第一个视觉SLAM方案，接下来还是简单记录下
运行环境
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硬件环境：Up2、RealsenseD435i
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软件环境：Ubuntu18.04、ROS melodic、librealsense2.29、realsense-ros2.2.9
安装
首先需要安装Ceres-solver依赖项，安装过程见http://ceres-solver.org/installation.html
接着下载并使用catkin_make编译VINS-Fusion
cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
下载缓慢的话可以将https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git改成https://gitee.com/jylhaust/VINS-Fusion.git
运行
修改rs_camera.launch，重命名为rs_camera_vins.launch，将它保存在~/catkin_ws/src/realsense-ros/realsense2_camera/launch/目录下，简单修改一下内容，如下：
<launch>
<arg name="serial_no" default=""/>
<arg name="usb_port_id" default=""/>
<arg name="device_type" default=""/>
<arg name="json_file_path" default=""/>
<arg name="camera" default="camera"/>
<arg name="tf_prefix" default="$(arg camera)"/>
<arg name="external_manager" default="false"/>
<arg name="manager" default="realsense2_camera_manager"/>
<arg name="fisheye_width" default="640"/>
<arg name="fisheye_height" default="480"/>
<arg name="enable_fisheye" default="false"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="enable_depth" default="true"/>
<arg name="infra_width" default="640"/>
<arg name="infra_height" default="480"/>
<arg name="enable_infra1" default="true"/>
<arg name="enable_infra2" default="true"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="enable_color" default="true"/>
<arg name="fisheye_fps" default="30"/>
<arg name="depth_fps" default="30"/>
<arg name="infra_fps" default="30"/>
<arg name="color_fps" default="30"/>
<arg name="gyro_fps" default="200"/>
<arg name="accel_fps" default="250"/>
<arg name="enable_gyro" default="true"/>
<arg name="enable_accel" default="true"/>
<arg name="enable_pointcloud" default="false"/>
<arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
<arg name="pointcloud_texture_index" default="0"/>
<arg name="enable_sync" default="true"/>
<arg name="align_depth" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="0"/>
<arg name="filters" default=""/>
<arg name="clip_distance" default="-2"/>
<arg name="linear_accel_cov" default="0.01"/>
<arg name="initial_reset" default="false"/>
<arg name="unite_imu_method" default="linear_interpolation"/>
<arg name="topic_odom_in" default="odom_in"/>
<arg name="calib_odom_file" default=""/>
<arg name="publish_odom_tf" default="true"/>
<arg name="allow_no_texture_points" default="false"/>
<arg name="emitter_enable" default="false"/>
<rosparam>
/camera/stereo_module/emitter_enabled: 0
rosparam>
<rosparam if="$(arg emitter_enable)">
/camera/stereo_module/emitter_enabled: 1
rosparam>
<group ns="$(arg camera)">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="external_manager" value="$(arg external_manager)"/>
<arg name="manager" value="$(arg manager)"/>
<arg name="serial_no" value="$(arg serial_no)"/>
<arg name="usb_port_id" value="$(arg usb_port_id)"/>
<arg name="device_type" value="$(arg device_type)"/>
<arg name="json_file_path" value="$(arg json_file_path)"/>
<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/>
<arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
<arg name="pointcloud_texture_index" value="$(arg pointcloud_texture_index)"/>
<arg name="enable_sync" value="$(arg enable_sync)"/>
<arg name="align_depth" value="$(arg align_depth)"/>
<arg name="fisheye_width" value="$(arg fisheye_width)"/>
<arg name="fisheye_height" value="$(arg fisheye_height)"/>
<arg name="enable_fisheye" value="$(arg enable_fisheye)"/>
<arg name="depth_width" value="$(arg depth_width)"/>
<arg name="depth_height" value="$(arg depth_height)"/>
<arg name="enable_depth" value="$(arg enable_depth)"/>
<arg name="color_width" value="$(arg color_width)"/>
<arg name="color_height" value="$(arg color_height)"/>
<arg name="enable_color" value="$(arg enable_color)"/>
<arg name="infra_width" value="$(arg infra_width)"/>
<arg name="infra_height" value="$(arg infra_height)"/>
<arg name="enable_infra1" value="$(arg enable_infra1)"/>
<arg name="enable_infra2" value="$(arg enable_infra2)"/>
<arg name="fisheye_fps" value="$(arg fisheye_fps)"/>
<arg name="depth_fps" value="$(arg depth_fps)"/>
<arg name="infra_fps" value="$(arg infra_fps)"/>
<arg name="color_fps" value="$(arg color_fps)"/>
<arg name="gyro_fps" value="$(arg gyro_fps)"/>
<arg name="accel_fps" value="$(arg accel_fps)"/>
<arg name="enable_gyro" value="$(arg enable_gyro)"/>
<arg name="enable_accel" value="$(arg enable_accel)"/>
<arg name="publish_tf" value="$(arg publish_tf)"/>
<arg name="tf_publish_rate" value="$(arg tf_publish_rate)"/>
<arg name="filters" value="$(arg filters)"/>
<arg name="clip_distance" value="$(arg clip_distance)"/>
<arg name="linear_accel_cov" value="$(arg linear_accel_cov)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
<arg name="unite_imu_method" value="$(arg unite_imu_method)"/>
<arg name="topic_odom_in" value="$(arg topic_odom_in)"/>
<arg name="calib_odom_file" value="$(arg calib_odom_file)"/>
<arg name="publish_odom_tf" value="$(arg publish_odom_tf)"/>
<arg name="allow_no_texture_points" value="$(arg allow_no_texture_points)"/>
include>
group>
launch>
下面这段用于关闭激光发射器，防止干扰两个红外摄像头。
<rosparam>
/camera/stereo_module/emitter_enabled: 0
rosparam>
<rosparam if="$(arg emitter_enable)">
/camera/stereo_module/emitter_enabled: 1
rosparam>
再编写一个launch文件，命名为my_vins_d435.launch，也保存在~/catkin_ws/src/realsense-ros/realsense2_camera/launch/目录下，内容如下：
<launch>
<include file="$(find realsense2_camera)/launch/rs_camera_vins.launch"/>
<include file="$(find vins)/launch/vins_rviz.launch"/>
launch>
命令行输入roslaunch realsense2_camera my_vins_d435.launch即可。
然后执行：
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml
就可以运行VINS-Fusion了，其中realsense_stereo_imu_config.yaml是相机的配置文件，我们需要将里面的相机参数修改为自己的相机参数
运行效果
很容易漂，应该是我还没标定相机的原因，标定后效果应该好点，但纯CPU运行会有很大的滞后