在自己的realsenseD435i上测试ORB_SLAM3

文章目录

• 硬件
• 设置相机内参和外参
• 设置IMU内参

• 依赖
• 标定
• 可能遇到的问题

硬件

• x86电脑
• realsense d435i相机

设置相机内参和外参

安装ROS标定工具包

sudo apt install ros-melodic-camera-calibration

启动realsense相机

roslaunch realsense2_camera rs_camera.launch

打开标定窗口

rosrun camera_calibration cameracalibrator.py --size 10x8 --square 0.01 image:=/camera/color/image_raw camera:=/camera/color --no-service-check

PS：size为网格的横向、纵向的数量，square为网格的大小（单位m）

移动标定板会自动采集样本，当达到所需样本最小数量时，calibration按钮会变绿，点击按钮之后会进行标定。

除了realsense的畸变系数需要标定，其他通过下列命令查询

rs-enumerate-devices -c

相机内参和畸变参数

相机和IMU的外参

Rotation_Matrix (Extrinsic from "Gyro" To "Fisheye 1")  --> Tbc.data.R
Rotation_Matrix[0][0]  -->  Tbc.data[0][0]
Rotation_Matrix[0][1]  -->  Tbc.data[0][1]
Rotation_Matrix[0][2]  -->  Tbc.data[0][2]
Rotation_Matrix[1][0]  -->  Tbc.data[1][0]
Rotation_Matrix[1][1]  -->  Tbc.data[1][1]
Rotation_Matrix[1][2]  -->  Tbc.data[1][2]
Rotation_Matrix[2][0]  -->  Tbc.data[2][0]
Rotation_Matrix[2][1]  -->  Tbc.data[2][1]
Rotation_Matrix[2][2]  -->  Tbc.data[2][2]

Translation Vector (Extrinsic from "Gyro" To "Fisheye 1")  --> Tbc.data.t
Translation_Vector[0]  -->  Tbc.data[0][3]
Translation_Vector[1]  -->  Tbc.data[1][3]
Translation_Vector[2]  -->  Tbc.data[2][3]

设置IMU内参

依赖

Ceres

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev
# Ceres
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver && mkdir build && cd build && cmake .. && make -j32
sudo make install

libdw

sudo apt-get install libdw-dev

标定

录制rosbag包
终端1

mkdir -p imu_utils_ws/src && cd imu_utils_ws/src && git clone https://github.com/IntelRealSense/realsense-ros.git
cd .. && source /opt/ros/noetic/setup.bash && catkin_make && source devel/setup.bash
roslaunch realsense2_camera rs_t265.launch enable_gyro:=true enable_accel:=true unite_imu_method:=copy

终端2

rosbag record -O imu_calibration /camera/imu

生成IMU内参

终端1

mkdir -p imu_utils_ws/src && cd imu_utils_ws/src && git clone https://github.com/shanpenghui/imu_utils.git
cd .. && source /opt/ros/noetic/setup.bash && catkin_make && source devel/setup.bash
roslaunch imu_utils realsense.launch

终端2

rosbag play -r 200 imu_calibration.bag

可能遇到的问题

Q1

The following packages have unmet dependencies:
 libdw-dev : Depends: libelf-dev but it is not going to be installed
             Depends: libdw1 (= 0.165-3ubuntu1) but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

A1

sudo apt-get install libelf1= 0.165-3ubuntu1
sudo apt-get install libelf-dev

Q2

error: aggregate 'std::ofstream out_t' has incomplete type and cannot be defined

A2

//添加保护头文件
#include <fstream>