RealSense435i,运行VINS-mono

Posted 2022-02-02 chengwei0019

准备工作：

安装realsense SDK2.0:参考官方教程

安装realsense ros warp:参考官方教程

安装vins-mono:参考官方教程

传感器标定：参考教程（下一篇博客）

测试vins-mono:

下载数据集：https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

打开终端，分别输入如下指令：

roslaunch vins_estimator euroc.launch 
roslaunch vins_estimator vins_rviz.launch
rosbag play MH_01_easy.bag 

可以得到如下类似界面：

 运行Realsense435i+vins-mono

1. 修改部分参数【rs_camera.launch】；

第一处，修改unite_imu_method如下，这里是让IMU的角速度和加速度作为一个topic输出

 <arg name="unite_imu_method"      default="copy"/>

第二处，修改enable_sync参数为true，这里是开机相机和IMU的同步

 <arg name="enable_sync"           default="true"/>

 第三处，修改enable_gyro,enable_accel为true;默认不发布

<arg name="enable_gyro"   default="true"/>
<arg name="enable_accel"  default="true"/>

第四处，IMU到相机的变换矩阵，这里我根据注释的提示修改成2 

# Extrinsic parameter between IMU and Camera.
estimate_extrinsic: 2   # 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.

第五处，是否需要在线估计同步时差，建议这里选择不需要 

#unsynchronization parameters
estimate_td: 0                      # 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)

第六处，相机曝光改成全局曝光

#rolling shutter parameters
rolling_shutter: 0                      # 0: global shutter camera, 1: rolling shutter camera
rolling_shutter_tr: 0               # unit: s. rolling shutter read out time per frame (from data sheet). 

2.开始测试vins-mono

roslaunch realsense2_camera rs_camera.launch 
roslaunch vins_estimator realsense_color.launch 
roslaunch vins_estimator vins_rviz.launch

 正常可以得到如下图像：

主要参考博客：

如何用Realsense D435i运行VINS-Mono等VIO算法 获取IMU同步数据

从零开始使用Realsense D435i运行VINS-Mono