本文主要是介绍realsense d455 运行vins-mono,vins-rgbd，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！
GitHub - STAR-Center/VINS-RGBD
https://github.com/HKUST-Aerial-Robotics/VINS-Mono
读取realsense的内外参，也可以自己标定。
保证realsense-view安装成功，读取方法：
1.rs-enumerate-devices -c > realsense.txt
Extrinsic from "Color" To "Accel" :Rotation Matrix:0.999999 0.00110609 0.00129019 -0.00109996 0.999988 -0.00473814 -0.00129542 0.00473672 0.999988 Translation Vector: 0.028938414528966 0.00733212847262621 0.0157662034034729 Intrinsic of "Color" / 640x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}Width: 640Height: 480PPX: 327.825469970703PPY: 241.276077270508Fx: 383.595825195312Fy: 382.700103759766Distortion: Inverse Brown ConradyCoeffs: -0.0555242449045181 0.0690231919288635 -0.000249441509367898 0.000958832504693419 -0.0218870621174574 FOV (deg): 79.65 x 64.18修改rs_camera.launch 文件
<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="output" default="screen"/><arg name="respawn" default="false"/><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="confidence_width" default="-1"/><arg name="confidence_height" default="-1"/><arg name="enable_confidence" default="true"/><arg name="confidence_fps" default="-1"/><arg name="infra_width" default="640"/><arg name="infra_height" default="480"/><arg name="enable_infra" default="false"/><arg name="enable_infra1" default="false"/><arg name="enable_infra2" default="false"/><arg name="infra_rgb" default="false"/><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="-1"/><arg name="color_fps" default="30"/><arg name="gyro_fps" default="-1"/><arg name="accel_fps" default="-1"/><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_ANY"/><arg name="pointcloud_texture_index" default="0"/><arg name="allow_no_texture_points" default="false"/><arg name="ordered_pc" default="false"/><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="pointcloud"/><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="copy"/><arg name="topic_odom_in" default="odom_in"/><arg name="calib_odom_file" default=""/><arg name="publish_odom_tf" default="true"/><arg name="stereo_module/exposure/1" default="7500"/><arg name="stereo_module/gain/1" default="16"/><arg name="stereo_module/exposure/2" default="1"/><arg name="stereo_module/gain/2" default="16"/><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="output" value="$(arg output)"/><arg name="respawn" value="$(arg respawn)"/><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="$(arg enable_depth)"/><arg name="confidence_width" value="$(arg confidence_width)"/><arg name="confidence_height" value="$(arg confidence_height)"/><arg name="enable_confidence" value="$(arg enable_confidence)"/><arg name="confidence_fps" value="$(arg confidence_fps)"/><arg name="color_width" value="$(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_infra" value="$(arg enable_infra)"/><arg name="enable_infra1" value="$(arg enable_infra1)"/><arg name="enable_infra2" value="$(arg enable_infra2)"/><arg name="infra_rgb" value="$(arg infra_rgb)"/><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="stereo_module/exposure/1" value="$(arg stereo_module/exposure/1)"/><arg name="stereo_module/gain/1" value="$(arg stereo_module/gain/1)"/><arg name="stereo_module/exposure/2" value="$(arg stereo_module/exposure/2)"/><arg name="stereo_module/gain/2" value="$(arg stereo_module/gain/2)"/><arg name="allow_no_texture_points" value="$(arg allow_no_texture_points)"/><arg name="ordered_pc" value="$(arg ordered_pc)"/></include></group><node pkg="tf" type="static_transform_publisher" name="base_link_to_realsense" args="0.0 0.0 0.0 4.71 0 0.0 /zvision_lidar /camera_link 50" /><!---->
</launch>
2.rs-sensor-control
插上设备输入0，读取内参，分辨率88(640*480 rgb8)
一、vins_mono
修改realsense_color_config.yaml
%YAML:1.0#common parameters
imu_topic: "/camera/imu"
image_topic: "/camera/color/image_raw"
output_path: "/home/tony-ws1/output/"#camera calibration
model_type: PINHOLE
camera_name: camera
image_width: 640
image_height: 480
distortion_parameters:k1: -5.58381e-02k2: 6.70407e-02p1: -2.42111e-04p2: -2.12417e-02
projection_parameters:fx: 383.595825195312fy: 382.700103759766cx: 327.825469970703cy: 241.276077270508# Extrinsic parameter between IMU and Camera.
estimate_extrinsic: 1 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.# 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.# 2 Don't know anything about extrinsic parameters. You don't need to give R,T. We will try to calibrate it. Do some rotation movement at beginning.
#If you choose 0 or 1, you should write down the following matrix.
#Rotation from camera frame to imu frame, imu^R_cam
extrinsicRotation: !!opencv-matrixrows: 3cols: 3dt: ddata: [0.999999 ,0.00110609,0.00129019,-0.00109996,0.999988 ,-0.00473814, -0.00129542,0.00473672,0.999988 ]
#Translation from camera frame to imu frame, imu^T_cam
extrinsicTranslation: !!opencv-matrixrows: 3cols: 1dt: ddata: [0.028938414528966,0.00733212847262621,0.0157662034034729]#feature traker paprameters
max_cnt: 150 # max feature number in feature tracking
min_dist: 25 # min distance between two features
freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image
F_threshold: 1.0 # ransac threshold (pixel)
show_track: 1 # publish tracking image as topic
equalize: 0 # if image is too dark or light, trun on equalize to find enough features
fisheye: 0 # if using fisheye, trun on it. A circle mask will be loaded to remove edge noisy points#optimization parameters
max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time
max_num_iterations: 8 # max solver itrations, to guarantee real time
keyframe_parallax: 10.0 # keyframe selection threshold (pixel)#imu parameters The more accurate parameters you provide, the better performance
acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2
gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05
acc_w: 0.0002 # accelerometer bias random work noise standard deviation. #0.02
gyr_w: 2.0e-5 # gyroscope bias random work noise standard deviation. #4.0e-5
g_norm: 9.805 # gravity magnitude#loop closure parameters
loop_closure: 1 # start loop closure
fast_relocalization: 1 # useful in real-time and large project
load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path'
pose_graph_save_path: "/home/jankin/linux/slam/vins-mono/src/log/" # save and load path#unsynchronization parameters
estimate_td: 1 # online estimate time offset between camera and imu
td: 0.000 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)#rolling shutter parameters
rolling_shutter: 1 # 0: global shutter camera, 1: rolling shutter camera
rolling_shutter_tr: 0.033 # unit: s. rolling shutter read out time per frame (from data sheet). #visualization parameters
save_image: 0 # save image in pose graph for visualization prupose; you can close this function by setting 0
visualize_imu_forward: 0 # output imu forward propogation to achieve low latency and high frequence results
visualize_camera_size: 0.4 # size of camera marker in RVIZ如果不运行回环，将launch文件回环部分注释：
<launch><arg name="config_path" default = "$(find feature_tracker)/../config/realsense/realsense_color_config.yaml" /><arg name="vins_path" default = "$(find feature_tracker)/../config/../" /><node name="feature_tracker" pkg="feature_tracker" type="feature_tracker" output="log"><param name="config_file" type="string" value="$(arg config_path)" /><param name="vins_folder" type="string" value="$(arg vins_path)" /></node><node name="vins_estimator" pkg="vins_estimator" type="vins_estimator" output="screen"><param name="config_file" type="string" value="$(arg config_path)" /><param name="vins_folder" type="string" value="$(arg vins_path)" /></node><!--<node name="pose_graph" pkg="pose_graph" type="pose_graph" output="screen"><param name="config_file" type="string" value="$(arg config_path)" /><param name="visualization_shift_x" type="int" value="0" /><param name="visualization_shift_y" type="int" value="0" /><param name="skip_cnt" type="int" value="0" /><param name="skip_dis" type="double" value="0" /></node>--><node name="rvizvisualisation" pkg="rviz" type="rviz" output="log" args="-d $(find vins_estimator)/../config/vins_rviz_config.rviz" />
</launch>运行程序：
roslaunch realsense2_camera rs_camera.launch
roslaunch vins_estimator realsense_color.launchvins-rgb方法相同，精度也差不多，rgbd有场景图（不要关pose_graph，关了只有vins_estimator）,在vins-Mono基础上修改了，rgbd对特征点深度校验，在feature_manger.cpp的深度三角化中，optimazation将深度校验的进行const。
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