Ubuntu 16.04 下 VINS-Mono 的安装和使用(RealSense ZR300)

Last updated on May 7, 2023 pm

[TOC]

Overview

本文介绍在 Ubuntu 16.04（ROS Kinetic）的PC平台上使用 RealSense ZR300 的 fisheye camera (FOV: 100x133) + IMU 运行 我对VINS-Mono的改版 cggos/vins_mono_cg。

安装&运行 ZR300驱动

RealSense ZR300 的加速度计和陀螺仪的时间戳不是完全相同的（加速度计的频率为250Hz而陀螺仪的频率为200Hz），但是由于RealSense ZR300的时间戳是在硬件上打的，不是操作系统接收到到图像和IMU的时间戳，所以可以通过 插值 的方式使它们的时间戳对齐。

这里使用 maplab 推荐的驱动：ethz-asl 的 maplab_realsense，对IMU的陀螺仪、加速度计、图像的时间戳做了对齐处理。

  • 安装 librealsense

    1
    sudo apt install ros-${ROS_VERSION}-librealsense

  • 安装 maplab_realsense

    1
    2
    3
    4
    5
    6
    7
    8
    mkdir -p ws_realsense/src
    cd ws_realsense/src
    git clone https://github.com/ethz-asl/maplab_realsense.git
    wstool init
    wstool merge maplab_realsense/dependencies.rosinstall
    wstool update -j4
    cd ../
    catkin build

  • 运行 maplab_realsense

    1
    2
    source devel/setup.bash
    roslaunch maplab_realsense maplab_realsense.launch

    正常运行界面如下：

    注意：若运行错误，可尝试运行多次，或者 更换尝试更换USB口。

    其 Topic list：

    1
    2
    3
    4
    5
    6
    7
    8
    9
    10
    11
    12
    13
    14
    15
    16
    17
    18
    19
    20
    21
    22
    23
    24
    25
    26
    27
    28
    29
    30
    31
    32
    33
    34
    35
    36
    37
    38
    39
    40
    41
    42
    43
    44
    45
    46
    47
    48
    49
    50
    51
    52
    53
    /rosout
    /rosout_agg
    /tf_static
    /zr300_node/color/camera_info
    /zr300_node/color/image_raw
    /zr300_node/color/image_raw/compressed
    /zr300_node/color/image_raw/compressed/parameter_descriptions
    /zr300_node/color/image_raw/compressed/parameter_updates
    /zr300_node/color/image_raw/compressedDepth
    /zr300_node/color/image_raw/compressedDepth/parameter_descriptions
    /zr300_node/color/image_raw/compressedDepth/parameter_updates
    /zr300_node/color/image_raw/theora
    /zr300_node/color/image_raw/theora/parameter_descriptions
    /zr300_node/color/image_raw/theora/parameter_updates
    /zr300_node/depth/camera_info
    /zr300_node/device_time
    /zr300_node/device_time/parameter_descriptions
    /zr300_node/device_time/parameter_updates
    /zr300_node/fisheye/camera_info
    /zr300_node/fisheye/image_raw
    /zr300_node/fisheye/image_raw/compressed
    /zr300_node/fisheye/image_raw/compressed/parameter_descriptions
    /zr300_node/fisheye/image_raw/compressed/parameter_updates
    /zr300_node/fisheye/image_raw/compressedDepth
    /zr300_node/fisheye/image_raw/compressedDepth/parameter_descriptions
    /zr300_node/fisheye/image_raw/compressedDepth/parameter_updates
    /zr300_node/fisheye/image_raw/theora
    /zr300_node/fisheye/image_raw/theora/parameter_descriptions
    /zr300_node/fisheye/image_raw/theora/parameter_updates
    /zr300_node/imu
    /zr300_node/ir_1/camera_info
    /zr300_node/ir_1/image_raw
    /zr300_node/ir_1/image_raw/compressed
    /zr300_node/ir_1/image_raw/compressed/parameter_descriptions
    /zr300_node/ir_1/image_raw/compressed/parameter_updates
    /zr300_node/ir_1/image_raw/compressedDepth
    /zr300_node/ir_1/image_raw/compressedDepth/parameter_descriptions
    /zr300_node/ir_1/image_raw/compressedDepth/parameter_updates
    /zr300_node/ir_1/image_raw/theora
    /zr300_node/ir_1/image_raw/theora/parameter_descriptions
    /zr300_node/ir_1/image_raw/theora/parameter_updates
    /zr300_node/ir_2/camera_info
    /zr300_node/ir_2/image_raw
    /zr300_node/ir_2/image_raw/compressed
    /zr300_node/ir_2/image_raw/compressed/parameter_descriptions
    /zr300_node/ir_2/image_raw/compressed/parameter_updates
    /zr300_node/ir_2/image_raw/compressedDepth
    /zr300_node/ir_2/image_raw/compressedDepth/parameter_descriptions
    /zr300_node/ir_2/image_raw/compressedDepth/parameter_updates
    /zr300_node/ir_2/image_raw/theora
    /zr300_node/ir_2/image_raw/theora/parameter_descriptions
    /zr300_node/ir_2/image_raw/theora/parameter_updates
    /zr300_node/pointcloud

标定 ZR300

使用 kalibr 对 ZR300 进行标定，标定方法可参考 Kalibr 之 Camera-IMU 标定 (总结)。

安装&运行 VINS-Mono

这里使用 我对VINS-Mono的改版 cggos/vins_mono_cg，配置文件或者标定参数均使用VINS-Mono默认文件。

  • 安装 Dependencies
    • eigen3
    • ceres-solver

  • 安装 vins_mono_cg

    1
    2
    3
    4
    5
    mkdir -p ws_vins/src
    cd ws_vins/src
    git clone https://github.com/cggos/vins_mono_cg.git
    cd ../
    catkin_make -j3

  • 修改 config/realsense/realsense_fisheye_config.yaml

    1
    2
    3
    imu_topic:   "/zr300_node/imu"
    image_topic: "/zr300_node/fisheye/image_raw"
    output_path: "./output/"

  • 运行 vins_mono_cg

    1
    roslaunch vins_estimator realsense_fisheye.launch

SLAM
#Stereo Vision #Visual SLAM #VIO
Ubuntu 16.04 下 VINS-Mono 的安装和使用(RealSense ZR300)
https://cgabc.xyz/posts/8b7bb02f/
Author
Gavin Gao
Posted on
March 3, 2019
Licensed under