####仅作为笔记
ubuntu16.04
- 安装ROS
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo apt-get install python-catkin-tools
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
- OpenCV3.4.6
git clone --branch 3.4.6 https://github.com/opencv/opencv/
git clone --branch 3.4.6 https://github.com/opencv/opencv_contrib/
mkdir opencv/build/
cd opencv/build/
cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..
make -j4
sudo make install
- 安装OpenVINS
mkdir -p ~/workspace/catkin_ws_ov/src/
cd ~/workspace/catkin_ws_ov/src/
git clone https://github.com/rpng/open_vins/
cd ..
catkin build
- 安装评估环境
sudo apt-get install python-matplotlib python-numpy python2.7-dev python-psutil
catkin build -DDISABLE_MATPLOTLIB=OFF # build with viz (default)
catkin build -DDISABLE_MATPLOTLIB=ON # build without viz
- 测试
#数据集下载：https://docs.openvins.com/gs-datasets.html
#在下载链接提供launch文件的例子
在launch文件中需要修改的有：
<arg name="bag" default="/home/patrick/datasets/eth/V1_01_easy.bag" />
<arg name="path_est" default="/tmp/traj_estimate.txt" />
<arg name="path_time" default="/tmp/traj_timing.txt" />
#都是路径问题
如果使用自己的相机，并且使用rosbag录制的数据集：
<launch>
<!-- mono or stereo and what ros bag to play -->
<arg name="max_cameras" default="2" />
<arg name="use_stereo" default="true" />
<arg name="bag_start" default="0" /> <!-- v1-2: 0, mh1: 40, mh2: 35, mh3-5: 20 -->
<arg name="bag" default="/home/ubuntu/realsense/whitewall.bag" />
<!-- imu starting thresholds -->
<arg name="init_window_time" default="0.75" />
<arg name="init_imu_thresh" default="0" />
<!-- saving trajectory path and timing information -->
<arg name="dosave" default="false" />
<arg name="dotime" default="false" />
<arg name="path_est" default="/home/ubuntu/realsense/traj_estimate.txt" />
<arg name="path_time" default="/home/ubuntu/realsense/traj_timing.txt" />
<!-- MASTER NODE! -->
<node name="run_subscribe_msckf" pkg="ov_msckf" type="run_subscribe_msckf" output="screen" clear_params="true" required="true">
<!-- bag topics -->
<param name="topic_imu" type="string" value="/camera/imu" />
<param name="topic_camera0" type="string" value="/camera/fisheye1/image_raw" />
<param name="topic_camera1" type="string" value="/camera/fisheye2/image_raw" />
<!-- world/filter parameters -->
<param name="use_fej" type="bool" value="true" />
<param name="use_imuavg" type="bool" value="true" />
<param name="use_rk4int" type="bool" value="true" />
<param name="use_stereo" type="bool" value="$(arg use_stereo)" />
<param name="calib_cam_extrinsics" type="bool" value="true" />
<param name="calib_cam_intrinsics" type="bool" value="true" />
<param name="calib_cam_timeoffset" type="bool" value="true" />
<param name="calib_camimu_dt" type="double" value="0.0" />
<param name="max_clones" type="int" value="11" />
<param name="max_slam" type="int" value="75" />
<param name="max_slam_in_update" type="int" value="25" /> <!-- 25 seems to work well -->
<param name="max_msckf_in_update" type="int" value="999" />
<param name="max_cameras" type="int" value="$(arg max_cameras)" />
<param name="dt_slam_delay" type="double" value="3" />
<param name="init_window_time" type="double" value="$(arg init_window_time)" />
<param name="init_imu_thresh" type="double" value="$(arg init_imu_thresh)" />
<rosparam param="gravity">[0.0,0.0,9.79]</rosparam>
<param name="feat_rep_msckf" type="string" value="GLOBAL_3D" />
<param name="feat_rep_slam" type="string" value="ANCHORED_FULL_INVERSE_DEPTH" />
<param name="feat_rep_aruco" type="string" value="ANCHORED_FULL_INVERSE_DEPTH" />
<!-- timing statistics recording -->
<param name="record_timing_information" type="bool" value="$(arg dotime)" />
<param name="record_timing_filepath" type="string" value="$(arg path_time)" />
<!-- tracker/extractor properties -->
<param name="use_klt" type="bool" value="true" />
<param name="num_pts" type="int" value="150" />
<param name="fast_threshold" type="int" value="15" />
<param name="grid_x" type="int" value="5" />
<param name="grid_y" type="int" value="3" />
<param name="min_px_dist" type="int" value="10" />
<param name="knn_ratio" type="double" value="0.70" />
<param name="downsample_cameras" type="bool" value="false" />
<!-- aruco tag/mapping properties -->
<param name="use_aruco" type="bool" value="false" />
<param name="num_aruco" type="int" value="1024" />
<param name="downsize_aruco" type="bool" value="true" />
<!-- sensor noise values / update -->
<param name="up_msckf_sigma_px" type="double" value="1" />
<param name="up_msckf_chi2_multipler" type="double" value="1" />
<param name="up_slam_sigma_px" type="double" value="1" />
<param name="up_slam_chi2_multipler" type="double" value="1" />
<param name="up_aruco_sigma_px" type="double" value="1" />
<param name="up_aruco_chi2_multipler" type="double" value="1" />
<param name="gyroscope_noise_density" type="double" value="2.1708707285582919e-03" />
<param name="gyroscope_random_walk" type="double" value="3.3310892418430371e-05" />
<param name="accelerometer_noise_density" type="double" value="1.8821062378332139e-02" />
<param name="accelerometer_random_walk" type="double" value="4.7642541871083607e-04" />
<!-- camera intrinsics -->
<rosparam param="cam0_wh">[848, 800]</rosparam>
<rosparam param="cam1_wh">[848, 800]</rosparam>
<param name="cam0_is_fisheye" type="bool" value="true" />
<param name="cam1_is_fisheye" type="bool" value="true" />
<rosparam param="cam0_k">[286.9511328506641, 286.5417880620762, 423.9106424074819, 394.48792893961905]</rosparam>
<rosparam param="cam0_d">[0.0009142158585712033, 0.05393235583078715, -0.06370985330963085, 0.016282796056288063]</rosparam>
<rosparam param="cam1_k">[286.8653055921684, 286.4203090917762, 418.9288595645989, 399.2454060401281]</rosparam>
<rosparam param="cam1_d">[0.006524437649180689, 0.027957476236585614, -0.02749575475474867, 0.001296949984931970]</rosparam>
<!-- camera extrinsics -->
<rosparam param="T_C0toI">
[
-0.99990013, -0.0054273, 0.01304901, 0.0007662,
0.00551683, -0.99996143, 0.00683448, 0.00023907,
0.01301141, 0.00690579, 0.9998915, 0.0038333,
0.0, 0.0, 0.0, 1.0
]
</rosparam>
<rosparam param="T_C1toI">
[
-0.99990467, -0.00663728, 0.01210738, -0.06398971,
0.00670205, -0.99996341, 0.00531653, 0.00016392,
0.01207165, 0.00539717, 0.99991257, 0.00419339,
0.0, 0.0, 0.0, 1.0
]
</rosparam>
</node>
<!-- play the dataset -->
<node pkg="rosbag" type="play" name="rosbag" args="-d 1 -s $(arg bag_start) $(arg bag)" required="true"/>
<!-- record the trajectory if enabled -->
<group if="$(arg dosave)">
<node name="recorder_estimate" pkg="ov_eval" type="pose_to_file" output="screen" required="true">
<param name="topic" type="str" value="/ov_msckf/poseimu" />
<param name="topic_type" type="str" value="PoseWithCovarianceStamped" />
<param name="output" type="str" value="$(arg path_est)" />
</node>
</group>
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find ov_msckf)/launch/display.rviz" />
</launch>
如果使用自己的相机，使用相机实时数据传输：
<launch>
<!-- mono or stereo and what ros bag to play -->
<arg name="max_cameras" default="2" /> #最大相机数目，单目:1，双目：2
<arg name="use_stereo" default="true" /> #是否使用双目相机
<!-- imu starting thresholds -->
<arg name="init_window_time" default="0.75" />
<arg name="init_imu_thresh" default="0" />
<!-- saving trajectory path and timing information -->
<arg name="dosave" default="false" /> #是否保存轨迹
<arg name="dotime" default="false" /> #是否保存时间信息
<arg name="path_est" default="/home/ubuntu/catkin_ws/src/ov_raspi/traj_estimate.txt" /> #保存路径
<arg name="path_time" default="/home/ubuntu/catkin_ws/src/ov_raspi/traj_timing.txt" />
<!-- MASTER NODE! -->
<node name="run_subscribe_msckf" pkg="ov_msckf" type="run_subscribe_msckf" output="screen" clear_params="true" required="true">
<!-- bag topics -->
<param name="topic_imu" type="string" value="/camera/imu" /> #修改成自己的imu topic
<param name="topic_camera0" type="string" value="/camera/fisheye1/image_raw" /> #修改成自己的双目topic
<param name="topic_camera1" type="string" value="/camera/fisheye2/image_raw" />
<!-- world/filter parameters -->
<param name="use_fej" type="bool" value="true" />
<param name="use_imuavg" type="bool" value="true" />
<param name="use_rk4int" type="bool" value="true" />
<param name="use_stereo" type="bool" value="$(arg use_stereo)" />
<param name="calib_cam_extrinsics" type="bool" value="true" />
<param name="calib_cam_intrinsics" type="bool" value="true" />
<param name="calib_cam_timeoffset" type="bool" value="true" />
<param name="calib_camimu_dt" type="double" value="0.0" />
<param name="max_clones" type="int" value="11" />
<param name="max_slam" type="int" value="25" />
<param name="max_slam_in_update" type="int" value="25" /> <!-- 25 seems to work well -->
<param name="max_msckf_in_update" type="int" value="50" />
<param name="max_cameras" type="int" value="$(arg max_cameras)" />
<param name="dt_slam_delay" type="double" value="3" />
<param name="init_window_time" type="double" value="$(arg init_window_time)" />
<param name="init_imu_thresh" type="double" value="$(arg init_imu_thresh)" />
<rosparam param="gravity">[0.0,0.0,9.81]</rosparam>
<param name="feat_rep_msckf" type="string" value="GLOBAL_3D" />
<param name="feat_rep_slam" type="string" value="ANCHORED_FULL_INVERSE_DEPTH" />
<param name="feat_rep_aruco" type="string" value="ANCHORED_FULL_INVERSE_DEPTH" />
<!-- timing statistics recording -->
<param name="record_timing_information" type="bool" value="$(arg dotime)" />
<param name="record_timing_filepath" type="string" value="$(arg path_time)" />
<!-- tracker/extractor properties -->
<param name="use_klt" type="bool" value="true" />
<param name="num_pts" type="int" value="150" />
<param name="fast_threshold" type="int" value="15" />
<param name="grid_x" type="int" value="5" />
<param name="grid_y" type="int" value="3" />
<param name="min_px_dist" type="int" value="10" />
<param name="knn_ratio" type="double" value="0.70" />
<param name="downsample_cameras" type="bool" value="false" />
<!-- aruco tag/mapping properties -->
<param name="use_aruco" type="bool" value="false" />
<param name="num_aruco" type="int" value="1024" />
<param name="downsize_aruco" type="bool" value="true" />
<!-- sensor noise values / update -->
<param name="up_msckf_sigma_px" type="double" value="1" />
<param name="up_msckf_chi2_multipler" type="double" value="1" />
<param name="up_slam_sigma_px" type="double" value="1" />
<param name="up_slam_chi2_multipler" type="double" value="1" />
<param name="up_aruco_sigma_px" type="double" value="1" />
<param name="up_aruco_chi2_multipler" type="double" value="1" />
<param name="gyroscope_noise_density" type="double" value="2.1708707285582919e-03" /> #修改成自己的imu校准数据
<param name="gyroscope_random_walk" type="double" value="3.3310892418430371e-05" />
<param name="accelerometer_noise_density" type="double" value="1.8821062378332139e-02" />
<param name="accelerometer_random_walk" type="double" value="4.7642541871083607e-04" />
<!-- camera intrinsics --> #相机内参自己提供，推荐Kalibr camera-imu联合校准，以下信息基本都会有
<rosparam param="cam0_wh">[848, 800]</rosparam>
<rosparam param="cam1_wh">[848, 800]</rosparam>
<param name="cam0_is_fisheye" type="bool" value="true" />
<param name="cam1_is_fisheye" type="bool" value="true" />
<rosparam param="cam0_k">[286.9511328506641, 286.5417880620762, 423.9106424074819, 394.48792893961905]</rosparam>
<rosparam param="cam0_d">[0.0009142158585712033, 0.05393235583078715, -0.06370985330963085, 0.016282796056288063]</rosparam>
<rosparam param="cam1_k">[286.8653055921684, 286.4203090917762, 418.9288595645989, 399.2454060401281]</rosparam>
<rosparam param="cam1_d">[0.006524437649180689, 0.027957476236585614, -0.02749575475474867, 0.001296949984931970]</rosparam>
<!-- camera extrinsics -->
<rosparam param="T_C0toI">
[
-0.99990013, -0.0054273, 0.01304901, 0.0007662,
0.00551683, -0.99996143, 0.00683448, 0.00023907,
0.01301141, 0.00690579, 0.9998915, 0.0038333,
0.0, 0.0, 0.0, 1.0
]
</rosparam>
<rosparam param="T_C1toI">
[
-0.99990467, -0.00663728, 0.01210738, -0.06398971,
0.00670205, -0.99996341, 0.00531653, 0.00016392,
0.01207165, 0.00539717, 0.99991257, 0.00419339,
0.0, 0.0, 0.0, 1.0
]
</rosparam>
</node>
<!-- record the trajectory if enabled -->
<group if="$(arg dosave)">
<node name="recorder_estimate" pkg="ov_eval" type="pose_to_file" output="screen" required="true">
<param name="topic" type="str" value="/ov_msckf/poseimu" />
<param name="topic_type" type="str" value="PoseWithCovarianceStamped" />
<param name="output" type="str" value="$(arg path_est)" />
</node>
</group>
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find ov_msckf)/launch/display.rviz" />
</launch>
- 测试结果