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XXIX - orbslam2 real-time 3D reconstruction using realsensed435

2022-06-25 16:49:00 【goldqiu】

Summary of previous articles ：

Multi-sensor fusion SLAM part ：

Open source framework testing

One ：Tixiao Shan The latest masterpiece LVI-SAM(Lio-SAM+Vins-Mono), Vision based - laser - Of inertial navigation odometer SLAM frame , Environment construction and running through process _goldqiu The blog of -CSDN Blog

Two . laser SLAM Frame learning is A-LOAM frame --- Introduction and demonstration _goldqiu The blog of -CSDN Blog

8、 ... and . laser SLAM Frame learning is LeGO-LOAM frame --- Framework introduction and running demonstration _goldqiu The blog of -CSDN Blog

11、 ... and . Laser inertial navigation LIO-SLAM Frame learning is LIO-SAM frame --- Framework introduction and running demonstration _goldqiu The blog of -CSDN Blog

Twelve . laser SLAM Frame learning is livox-loam Frame installation and running data set _goldqiu The blog of -CSDN Blog

Twenty-two . University of Hong Kong Mars laboratory R3LIVE The framework runs the official data set _goldqiu The blog of -CSDN Blog

Twenty-four - University of Hong Kong Mars laboratory FAST-LIO2 The framework runs the official data set _goldqiu The blog of -CSDN Blog

twenty-seven -VIO-SLAM Open source framework Vin-mono run EuRoC Data sets _goldqiu The blog of -CSDN Blog

From this blog to Localization、Navigation Part of it

twenty-five .SLAM in Mapping and Localization Difference and thinking

Planning

One . Path planning --- Two dimensional path planning simulation implementation -gmapping+amcl+map_server+move_base_goldqiu The blog of -CSDN Blog

Two . Path planning --- Two dimensional path planning is realized by real vehicle ---gmapping+amcl+map_server+move_base_goldqiu The blog of -CSDN Blog

Global Localization

One . Global positioning -- Open source positioning framework LIO-SAM_based_relocalization Real data set test _goldqiu The blog of -CSDN Blog

Two . Global positioning -- Open source positioning framework livox-relocalization Real data set test _goldqiu The blog of -CSDN Blog _livox Data sets

3、 ... and . Global positioning --LIO-SAM stay RTK Mapping and positioning under global constraints （1）_goldqiu The blog of -CSDN Blog

RealSenseD435 Drive installation

install SDK

1. download source

git clone https://github.com/IntelRealSense/librealsense 
cd librealsense

It is recommended to download a slightly lower version of SDK, I downloaded it librealsense-2.36.0 Version of , perhaps librealsense-2.45.0

2. Install dependencies

sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev

3. Install permission script

stay librealsense Folder

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

Uninstall and reload ,99-realsense-libusb.rules The file needs to be deleted .

4. Compilation and installation

mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install

realsense-viewer Tool to see the effect

realsense-viewer

install RealSense-ROS

sudo apt-get install ros-melodic-rgbd-launch
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/catkin_ws && catkin_make

After compilation , Use the following command to test ：

roslaunch realsense2_camera demo_pointcloud.launch

It is recommended to download a slightly lower version of , What I downloaded are ddynamic_reconfigure-0.2.2 and realsense-ros-2.3.2, perhaps ddynamic_reconfigure-0.3.2 and realsense-ros-2.3.2

Open the camera node

roslaunch realsense2_camera rs_rgbd.launch

Report errors ：

/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/qjs/code/D435_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN20ddynamic_reconfigure19DDynamicReconfigure16registerVariableIiEEvRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEET_RKN5boost8functionIFvSA_EEES9_SA_SA_S9_
[camera/realsense2_camera_manager-2] process has died [pid 27469, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/qjs/.ros/log/1eca8a82-e8c4-11ec-807e-70b5e831e2ce/camera-realsense2_camera_manager-2.log].
log file: /home/qjs/.ros/log/1eca8a82-e8c4-11ec-807e-70b5e831e2ce/camera-realsense2_camera_manager-2*.log

sudo find / -name librealsense2_camera.so

Delete... In one of the places librealsense2_camera.so, Keep only one .

Warning ：

 10/06 21:55:35,555 WARNING [140685336372992] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

No matter , have access to

Dr. Gao Xiang ORBSLAM2_with_pointcloud_map install

Install dependent Libraries

sudo  apt-get  install  cmake gcc g++ git vim
sudo  apt-get  install  libglew-dev
sudo  apt-get  install  libboost-dev libboost-thread-dev 
sudo  apt-get  install  libboost-filesystem-dev
sudo  apt-get  install  libpython2.7-dev
sudo  apt-get  install  build-essential

install Pangolin and Eigen These two libraries , The suggestions are 0.5 and 3.2 edition , The probability of error reporting is small .

cd  Pangolin  
mkdir  build
cd  build
cmake ..
make 
sudo make install
cd  eigen
mkdir  build
cd  build
cmake ..
make 
sudo make install

Compile non ROS Environmental Science

Download the modified code ：

g2o_with_orbslam2 Under the home folder

mkdir build
cmake ..
make -j8
sudo make install

/ORB_SLAM2_modified/build /ORB_SLAM2_modified/Thirdparty/DBoW2/build /ORB_SLAM2_modified/Thirdparty/g2o/build Delete three build Folder

stay ORB_SLAM2_modified Right click to open the terminal

cd ORB_SLAM2_modified/Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make

Re in ORB_SLAM2_modified Right click to open the terminal

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j8

Dataset testing

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml datasets/rgbd_dataset_freiburg1_xyz  datasets/rgbd_dataset_freiburg1_xyz/association.txt

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml datasets/rgbd_dataset_freiburg1_room  datasets/rgbd_dataset_freiburg1_room/association.txt

The saved point cloud is in the main folder , The name is vslam.pcd

compile ROS Environmental Science

Came to ORB_SLAM2_modified Folder Add your... At the end of the open text ROS route , preservation

gedit ~/.bashrc
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/ Your directory /ORB_SLAM2_modified/Examples/ROS

After saving, input... At the terminal

source ~/.bashrc

To configure ros Environmental Science

sudo gedit /opt/ros/melodic/setup.bash 
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/ Your directory /ORB_SLAM2_modified/Examples/ROS

After saving, input... At the terminal

source /opt/ros/melodic/setup.bash

Delete ORB_SLAM2_modified/Examples/ROS/ORB_SLAM2/build Documents in

Then compile

chmod +x build_ros.sh
./build_ros.sh

ROS Report errors ModuleNotFoundError: No module named ‘rospkg‘

pip install rospkg

boost Library problems for ：

stay ~/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeLists.txt Add a sentence to -lboost_system

appear g2o Error reporting of Library , The probability is and ros Self contained g2o The conflict , uninstall ：

sudo apt-get remove ros-melodic-libg2o

View camera internal parameters

roslaunch realsense2_camera rs_rgbd.launch 
rostopic echo /camera/color/camera_info
header: 
  seq: 1469
  stamp: 
    secs: 1654853975
    nsecs: 751267910
  frame_id: "camera_color_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [611.2393798828125, 0.0, 319.9852600097656, 0.0, 610.677490234375, 242.4569854736328, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [611.2393798828125, 0.0, 319.9852600097656, 0.0, 0.0, 610.677490234375, 242.4569854736328, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

On the terminal K, Is the parameter , among K = [fx 0 cx 0 fy cy 0 0 1 ] , The baseline 50mm

Modify the parameters , Get a new one D435i.yaml

%YAML:1.0
 
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
 
# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 611.239380
Camera.fy: 610.677490
Camera.cx: 319.985260
Camera.cy: 242.456985

Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.p3: 0.0

Camera.width: 640
Camera.height: 480
# Camera frames per second 
Camera.fps: 30.0

# IR projector baseline times fx (aprox.)
# bf = baseline (in meters) * fx, D435i Of  baseline = 50 mm 
Camera.bf: 50.0
 
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
 
# Close/Far threshold. Baseline times.
ThDepth: 40.0
 
# Deptmap values factor
DepthMapFactor: 1000.0
 
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
 
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000
 
# ORB Extractor: Scale factor between levels in the scale pyramid   
ORBextractor.scaleFactor: 1.2
 
# ORB Extractor: Number of levels in the scale pyramid  
ORBextractor.nLevels: 8
 
# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast           
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7
 
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500
 
PointCloudMapping.Resolution: 0.01
meank: 50
thresh: 2.0

function

roslaunch realsense2_camera rs_rgbd.launch
rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/D435i.yaml

Recording package

rosbag record -o 20220611.bag /camera/color/image_raw  /camera/aligned_depth_to_color/image_raw

Reference blog

https://blog.csdn.net/weixin_44946842/article/details/124055318?utm_source=app&app_version=5.3.0&code=app_1562916241&uLinkId=usr1mkqgl919blen

The final result

原网站

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