工程（十一）——NUC11+D435i+VINS-FUSION+ESDF建图（github代码）

博主的合并代码

[e-mail]:huashu996/VINS-FUSION-ESDFmap.git

一、D435i深度相机配置

1.1 SDK+ROS

参考我之前的博客，步骤和所遇见的问题已经写的很详细了

https://blog.csdn.net/HUASHUDEYANJING/article/details/129323834?spm=1001.2014.3001.5501

1.2 相机标定参数

1、相机内参

通过rostopic的camera/info获取

• header：标准消息头

seq：序列ID，连续递增的ID号

stamp：两个时间戳

frame_id：与此数据相关联的帧ID

height：图像尺寸，height代表高度，（height*width）相机的分辨率，以像素为单位

width：图像尺寸，width代表宽度，（height*width）相机分辨率，以像素为单位

• distortion_model：指定了相机畸变模型，对于大多数相机，"plumb_bob"简单的径向和切向畸变模型就足够了

• D(distortion_parameters)：畸变参数也叫失真系数，取决于畸变模型，(k1, k2, t1, t2, k3)

• K：相机内参矩阵，使用焦距(fx, fy)和主点坐标(cx, cy)，单位为像素，内参矩阵可以将相机坐标中的3D点投影到2D像素坐标，数据顺序(fx,cx,fy,cy,1)

• R：旋转矩阵，将相机坐标系统对准理想的立体图像平面，使两张立体图像中的极线平行，仅对双目相机有效

• P：投影矩阵，左边3*3矩阵是相机的内参矩阵，将相机坐标中的3D点投影到2D像素坐标，可能与相机内参K不同。对于单目相机Tx = Ty = 0。对于双目相机，Tx和Ty有所不同。

• binning_x：图像下采样参数，水平方向

• binning_y：图像下采样参数，竖直方向

• (width / binning_x) x (height / binning_y)

• 下采样：binning_x = binning_y ＞ 1。缩小图像，生成对应图像的缩略图，使得图像符合显示区域的大小。

• roi：感兴趣区域定义，即完整图像上的一个矩形子窗口

2.相机外参标定

https://blog.csdn.net/qq_38364548/article/details/124917067

二、VINS-FUSION环境配置

2.1 重要环境配置如下

ubuntu18.04

ROS

pcl 1.7

opencv3

ceres-solver-1.14.0

整体环境配置还算简单要求不严格，间要说明以下。

• ROS

sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport ros-melodic-octomap*

• Ceres

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libeigen3-dev libgtest-dev
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver/
mkdir build
cd build
cmake ..
make
sudo make install

• 代码安装

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

三、实际测试运行

3.1 D435I launch修改

为了启动IMU，双目摄像头

<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 set /camera/stereo_module/emitter_enabled 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>

3.2 单目+IMU

修改配置文件VINS-FUSION/src/VINS-Fusion-RGBD/config/realsense/realsense_d435i_config.yaml

主要修改相机的外参矩阵、内参矩阵、topic，不修改也能运行，漂移大。

roslaunch realsense2_camera rs_camera_vins.launch 
roslaunch vins vins_rviz.launch 
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/realsense_d435i/realsense_d435i_config.yaml

3.1 双目+IMU

修改配置文件VINS-FUSION/src/VINS-Fusion-RGBD/config/realsense/realsense_stereo_imu_config.yaml

主要修改两个相机的外参矩阵、内参矩阵、topic。

roslaunch realsense2_camera rs_camera_vins.launch 
roslaunch vins vins_rviz.launch 
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml

四、ESDF建图

4.1 下载代码编译

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/FIESTA
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

4.2 修改代码

• 1.修改launch

<launch><node pkg="fiesta" type="test_fiesta" name="fiesta" output="screen"required="true"><param name="resolution" value="0.05"/><param name="update_esdf_every_n_sec" value="0.1"/><!--Hash Table only--><param name="reserved_size" value="1000000"/><!--Array only--><param name="lx" value="-10.0"/><param name="ly" value="-10.0"/><param name="lz" value="-1"/><param name="rx" value="+10.0"/><param name="ry" value="+10.0"/><param name="rz" value="+3"/><!-- raycasting parameters --><param name="min_ray_length" value="0.5"/><param name="max_ray_length" value="5.0"/><!--If hash table is used, make sure the value is 0. In array implementation, 0 means no other thread.--><param name="ray_cast_num_thread" value="0"/><!-- needed when using depth image--><param name="center_x" value="381.91"/><param name="center_y" value="241.553"/><param name="focal_x" value="609.738"/><param name="focal_y" value="608.557"/><!-- probabilistic grid map --><param name="p_hit" value="0.70"/><param name="p_miss" value="0.35"/><param name="p_min" value="0.12"/><param name="p_max" value="0.97"/><param name="p_occ" value="0.80"/><!-- global / local --><param name="global_map" value="true"/><param name="global_update" value="true"/><param name="global_vis" value="true"/><param name="radius_x" value="3.0"/><param name="radius_y" value="3.0"/><param name="radius_z" value="1.5"/><!--depth_filter --><param name="use_depth_filter" value="true"/><param name="depth_filter_tolerance" value="0.1"/><param name="depth_filter_max_dist" value="10.0"/><param name="depth_filter_min_dist" value="0.1"/><!--unit: pixel--><param name="depth_filter_margin" value="0"/><!-- visulization --><!--0 for no visulize--><param name="visualize_every_n_updates" value="10"/><param name="slice_vis_max_dist" value="2.0"/><!-- relative to the lz if array is used, relative to the origin if hash table is used --><param name="slice_vis_level" value="1.6"/><param name="vis_lower_bound" value="0"/><param name="vis_upper_bound" value="+10"/><!-- subsribe source --><remap from="~depth" to="/camera/depth/image_rect_raw"/><remap from="~transform" to="/vins_estimator/camera_pose"/></node><node name="rvizvisualisation" pkg="rviz" type="rviz" output="log" args="-d $(find fiesta)/demo.rviz" />
</launch>

2.修改主函数

FIESTA-master/src/FIESTA/test/test_fiesta.cpp，默认是点云输入格式。

#include "Fiesta.h"int main(int argc, char **argv) {ros::init(argc, argv, "FIESTA");ros::NodeHandle node("~");//fiesta::Fiesta<sensor_msgs::PointCloud2::ConstPtr, geometry_msgs::TransformStamped::ConstPtr> esdf_map(node);fiesta::Fiesta<sensor_msgs::Image::ConstPtr, nav_msgs::Odometry::ConstPtr> esdf_map(node);fiesta::Fiesta<sensor_msgs::Image::ConstPtr, nav_msgs::Odometry::ConstPtr> esdf_map(node);ros::spin();return 0;
}

4.3 运行

roslaunch fiesta D435i.launch

运行效果图

双目

单目