本文主要是介绍Ubuntu 16.04 下 VINS-Mono 的安装和使用(RealSense ZR300),希望对大家解决编程问题提供一定的参考价值,需要的开发者们随着小编来一起学习吧!
Overview
欢迎访问 https://spatial-ai.net/vinsmono-zr300-run.html, 持续更新
本文介绍在 Ubuntu 16.04(ROS Kinetic)的PC平台上使用 RealSense ZR300 的 fisheye camera (FOV: 100x133) + IMU 运行 我对VINS-Mono的改版 cggos/vins_mono_cg。
安装&运行 ZR300驱动
RealSense ZR300 的加速度计和陀螺仪的时间戳不是完全相同的(加速度计的频率为250Hz而陀螺仪的频率为200Hz),但是由于RealSense ZR300的时间戳是在硬件上打的,不是操作系统接收到到图像和IMU的时间戳,所以可以通过 插值 的方式使它们的时间戳对齐。
这里使用 maplab 推荐的驱动:ethz-asl 的 maplab_realsense,对IMU的陀螺仪、加速度计、图像的时间戳做了对齐处理。
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安装 librealsense
sudo apt install ros-${ROS_VERSION}-librealsense
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安装 maplab_realsense
mkdir -p ws_realsense/src cd ws_realsense/src git clone https://github.com/ethz-asl/maplab_realsense.git wstool init wstool merge maplab_realsense/dependencies.rosinstall wstool update -j4 cd ../ catkin build
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运行 maplab_realsense
source devel/setup.bash roslaunch maplab_realsense maplab_realsense.launch
正常运行界面如下:
注意:若运行错误,可尝试运行多次,或者 更换尝试更换USB口。
其 Topic list:
/rosout /rosout_agg /tf_static /zr300_node/color/camera_info /zr300_node/color/image_raw /zr300_node/color/image_raw/compressed /zr300_node/color/image_raw/compressed/parameter_descriptions /zr300_node/color/image_raw/compressed/parameter_updates /zr300_node/color/image_raw/compressedDepth /zr300_node/color/image_raw/compressedDepth/parameter_descriptions /zr300_node/color/image_raw/compressedDepth/parameter_updates /zr300_node/color/image_raw/theora /zr300_node/color/image_raw/theora/parameter_descriptions /zr300_node/color/image_raw/theora/parameter_updates /zr300_node/depth/camera_info /zr300_node/device_time /zr300_node/device_time/parameter_descriptions /zr300_node/device_time/parameter_updates /zr300_node/fisheye/camera_info /zr300_node/fisheye/image_raw /zr300_node/fisheye/image_raw/compressed /zr300_node/fisheye/image_raw/compressed/parameter_descriptions /zr300_node/fisheye/image_raw/compressed/parameter_updates /zr300_node/fisheye/image_raw/compressedDepth /zr300_node/fisheye/image_raw/compressedDepth/parameter_descriptions /zr300_node/fisheye/image_raw/compressedDepth/parameter_updates /zr300_node/fisheye/image_raw/theora /zr300_node/fisheye/image_raw/theora/parameter_descriptions /zr300_node/fisheye/image_raw/theora/parameter_updates /zr300_node/imu /zr300_node/ir_1/camera_info /zr300_node/ir_1/image_raw /zr300_node/ir_1/image_raw/compressed /zr300_node/ir_1/image_raw/compressed/parameter_descriptions /zr300_node/ir_1/image_raw/compressed/parameter_updates /zr300_node/ir_1/image_raw/compressedDepth /zr300_node/ir_1/image_raw/compressedDepth/parameter_descriptions /zr300_node/ir_1/image_raw/compressedDepth/parameter_updates /zr300_node/ir_1/image_raw/theora /zr300_node/ir_1/image_raw/theora/parameter_descriptions /zr300_node/ir_1/image_raw/theora/parameter_updates /zr300_node/ir_2/camera_info /zr300_node/ir_2/image_raw /zr300_node/ir_2/image_raw/compressed /zr300_node/ir_2/image_raw/compressed/parameter_descriptions /zr300_node/ir_2/image_raw/compressed/parameter_updates /zr300_node/ir_2/image_raw/compressedDepth /zr300_node/ir_2/image_raw/compressedDepth/parameter_descriptions /zr300_node/ir_2/image_raw/compressedDepth/parameter_updates /zr300_node/ir_2/image_raw/theora /zr300_node/ir_2/image_raw/theora/parameter_descriptions /zr300_node/ir_2/image_raw/theora/parameter_updates /zr300_node/pointcloud
标定 ZR300
使用 kalibr 对 ZR300 进行标定,标定方法可参考 Kalibr 之 Camera-IMU 标定 (总结)。
安装&运行 VINS-Mono
这里使用 我对VINS-Mono的改版 cggos/vins_mono_cg,配置文件或者标定参数均使用VINS-Mono默认文件。
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安装 Dependencies
- eigen3
- ceres-solver
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安装 vins_mono_cg
mkdir -p ws_vins/src cd ws_vins/src git clone https://github.com/cggos/vins_mono_cg.git cd ../ catkin_make -j3
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修改 config/realsense/realsense_fisheye_config.yaml
imu_topic: "/zr300_node/imu" image_topic: "/zr300_node/fisheye/image_raw" output_path: "./output/"
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运行 vins_mono_cg
roslaunch vins_estimator realsense_fisheye.launch
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