【ORB_SLAM2】orb_slam2_ros Intel RealSense Depth Camera D455

roslaunch realsense2_camera rs_rgbd.launch
rostopic echo /camera/color/camera_info

git clone https://github.com/appliedAI-Initiative/orb_slam_2_ros.git

gedit /home/q/catkin_ws_orb/src/orb_slam_2_ros/ros/launch/orb_slam2_d455_rgbd.launch

<launch>
  <node name="orb_slam2_rgbd" pkg="orb_slam2_ros"
      type="orb_slam2_ros_rgbd" output="screen">

       <remap from="/camera/rgb/image_raw" to="/camera/color/image_raw" />
       <remap from="/camera/depth_registered/image_raw" to="/camera/aligned_depth_to_color/image_raw" />

       <param name="publish_pointcloud" type="bool" value="true" />
       <param name="publish_pose" type="bool" value="true" />
       <param name="localize_only" type="bool" value="false" />
       <param name="reset_map" type="bool" value="false" />

       <!-- static parameters -->
       <param name="load_map" type="bool" value="false" />
       <param name="map_file" type="string" value="map.bin" />
       <param name="voc_file" type="string" value="$(find orb_slam2_ros)/orb_slam2/Vocabulary/ORBvoc.txt" />

       <param name="pointcloud_frame_id" type="string" value="map" />
       <param name="camera_frame_id" type="string" value="camera_link" />
       <param name="min_num_kf_in_map" type="int" value="5" />

       <!-- ORB parameters -->
       <param name="/ORBextractor/nFeatures" type="int" value="1000" />
       <param name="/ORBextractor/scaleFactor" type="double" value="1.2" />
       <param name="/ORBextractor/nLevels" type="int" value="8" />
       <param name="/ORBextractor/iniThFAST" type="int" value="20" />
       <param name="/ORBextractor/minThFAST" type="int" value="7" />

       <!-- Camera parameters -->
       <!-- Camera frames per second -->
       <param name="camera_fps" type="int" value="30" />
       <!-- Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) -->
       <param name="camera_rgb_encoding" type="bool" value="true" />
       <!-- Close/Far threshold. Baseline times. -->
       <param name="ThDepth" type="double" value="40.0" />
       <!-- Deptmap values factor (what pixel value in the depth image corresponds to 1m) -->
       <param name="depth_map_factor" type="double" value="1000.0" />

        <!-- Camera calibration parameters -->
        <!--If the node should wait for a camera_info topic to take the camera calibration data-->
       <param name="load_calibration_from_cam" type="bool" value="false" />
       <!-- Camera calibration and distortion parameters (OpenCV) -->
      <param name="camera_fx" type="double" value="642.639404296875" />
      <param name="camera_fy" type="double" value="641.7462158203125" />
      <param name="camera_cx" type="double" value="636.2969360351562" />
      <param name="camera_cy" type="double" value="364.54034423828125" />
       <!-- Camera calibration and distortion parameters (OpenCV) -->
      <param name="camera_k1" type="double" value="-0.05640622600913048" />
      <param name="camera_k2" type="double" value="0.06541931629180908" />
      <param name="camera_p1" type="double" value="-0.0010315141407772899" />
      <param name="camera_p2" type="double" value="-7.055965397739783e-05" />
      <param name="camera_k3" type="double" value="-0.02093845047056675" />
      <!-- IR projector baseline times fx (aprox.) -->
      <param name="camera_baseline" type="double" value="9.052" />

  </node>
</launch>


<!-- height: 720
width: 1280
distortion_model: "plumb_bob"
D: [-0.05640622600913048, 0.06541931629180908, -0.0010315141407772899, -7.055965397739783e-05, -0.02093845047056675]
K: [642.639404296875, 0.0, 636.2969360351562, 0.0, 641.7462158203125, 364.54034423828125, 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: [642.639404296875, 0.0, 636.2969360351562, 0.0, 0.0, 641.7462158203125, 364.54034423828125, 0.0, 0.0, 0.0, 1.0, 0.0] -->

roslaunch orb_slam2_ros orb_slam2_d435_rgbd.launch

运行效果见哔哩哔哩视频