Realsence D455标定并运行Vins-Fusion

文章目录

一、双目相机标定

1. 标定板准备

1.1 打印标定板

地址：https://github.com/ethz-asl/kalibr/wiki/downloads
下载，然后直接用A4纸就可以打印出来（有条件去淘宝买一个视觉标定板，标出来的误差会更小）

1.2 标定板信息

原始pdf的格子参数是：

调整后的格子参数是：

新建april_6x6_A4.yaml文件，内容展示如下：

target_type:'aprilgrid' #gridtype
tagCols:6               #number of apriltags
tagRows:6               #number of apriltags
tagSize:0.021           #size of apriltag, edge to edge [m]
tagSpacing:0.3          # 小格子与大格子边长比例
codeOffset:0            #code offset for the first tag in the aprilboard

千万要自己测量大格子边长，即tagSize

2. 左右目相机数据准备

在这之前需要安装realsence的sdk和ros，参考博客：Intel Realsense D455深度相机的标定及使用（一）——安装librealsense SDK2.0以及realsense-ros

2.1 修改rs_camera.launch内容

（1）打开双目

<arg name="enable_infra1"default="true"/><arg name="enable_infra2"default="true"/>

（2）打开imu的加速度计和陀螺仪

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

并合并为一个topic

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

（3）传感器同步

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

当然也可以修改图像分辨率(我选择默认了)：

<arg name="infra_width"default="848"/><arg name="infra_height"default="480"/>

rs_camera.launch 整体

<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="output"default="screen"/><arg name="respawn"default="false"/><arg name="fisheye_width"default="-1"/><arg name="fisheye_height"default="-1"/><arg name="enable_fisheye"default="false"/><arg name="depth_width"default="-1"/><arg name="depth_height"default="-1"/><arg name="enable_depth"default="true"/><arg name="confidence_width"default="-1"/><arg name="confidence_height"default="-1"/><arg name="enable_confidence"default="true"/><arg name="confidence_fps"default="-1"/><arg name="infra_width"default="848"/><arg name="infra_height"default="480"/><arg name="enable_infra"default="false"/><arg name="enable_infra1"default="true"/><arg name="enable_infra2"default="true"/><arg name="infra_rgb"default="false"/><arg name="color_width"default="-1"/><arg name="color_height"default="-1"/><arg name="enable_color"default="true"/><arg name="fisheye_fps"default="-1"/><arg name="depth_fps"default="-1"/><arg name="infra_fps"default="30"/><arg name="color_fps"default="-1"/><arg name="gyro_fps"default="-1"/><arg name="accel_fps"default="-1"/><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="allow_no_texture_points"default="false"/><arg name="ordered_pc"default="false"/><arg name="enable_sync"default="true"/><arg name="align_depth"default="false"/><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="reconnect_timeout"default="6.0"/><arg name="wait_for_device_timeout"default="-1.0"/><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="stereo_module/exposure/1"default="7500"/><arg name="stereo_module/gain/1"default="16"/><arg name="stereo_module/exposure/2"default="1"/><arg name="stereo_module/gain/2"default="16"/><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="output"                   value="$(arg output)"/><arg name="respawn"                  value="$(arg respawn)"/><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="$(arg enable_depth)"/><arg name="confidence_width"         value="$(arg confidence_width)"/><arg name="confidence_height"        value="$(arg confidence_height)"/><arg name="enable_confidence"        value="$(arg enable_confidence)"/><arg name="confidence_fps"           value="$(arg confidence_fps)"/><arg name="color_width"              value="$(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_infra"             value="$(arg enable_infra)"/><arg name="enable_infra1"            value="$(arg enable_infra1)"/><arg name="enable_infra2"            value="$(arg enable_infra2)"/><arg name="infra_rgb"                value="$(arg infra_rgb)"/><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="reconnect_timeout"        value="$(arg reconnect_timeout)"/><arg name="wait_for_device_timeout"  value="$(arg wait_for_device_timeout)"/><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="stereo_module/exposure/1" value="$(arg stereo_module/exposure/1)"/><arg name="stereo_module/gain/1"     value="$(arg stereo_module/gain/1)"/><arg name="stereo_module/exposure/2" value="$(arg stereo_module/exposure/2)"/><arg name="stereo_module/gain/2"     value="$(arg stereo_module/gain/2)"/><arg name="allow_no_texture_points"  value="$(arg allow_no_texture_points)"/><arg name="ordered_pc"               value="$(arg ordered_pc)"/></include></group></launch>

2.2 关闭结构光

默认开始IR结构光时，双目图像会有很多点，这些点可能对标定有影响，所以使用时需要关闭结构光。
终端1：

source /home/lessle6/Packages/RealsenseRos_ws/devel/setup.bash
roslaunch /home/lessle6/Packages/RealsenseRos_ws/src/realsense-ros/realsense2_camera/launch/rs_camera.launch

再打开一个终端2：

rosrun rqt_reconfigure rqt_reconfigure

打开后将camera->stereo_module中的emitter_enabled设置为off(0) ，展示如下：

2.3 可视化双目图像

新打开终端，运行rviz

rviz

修改Fiexd Fram 为camera_link

之后在里面add rgb和双目对应的topic，/camera/color/image_raw、/camera/infra1/image_rect_raw、/camera/infra2/image_rect_raw展示如下：
之后固定标定版，尝试移动标定板，同时要确保标定板一直在三个图像当中。录制过程参考https://www.youtube.com/watch?v=puNXsnrYWTY&app=desktop
需要科学上网观看
总结下来就是偏航角左右摆动3次，俯仰角摆动3次，滚转角摆动3次，上下移动3次，左右移动3次，前后移动3次，然后自由移动一段时间，摆动幅度要大一点，让视角变化大一点，但是移动要缓慢一点，同时要保证标定板在3个相机视野内部，整个标定时间要在90s以上更好。

2.4 修改相机播包帧数

修改相机帧数（官方推荐是4Hz，尽管实际频率不完全准确，但是不影响结果）
kalibr在处理标定数据的时候要求频率不能太高，一般为4Hz，我们可以使用如下命令来更改topic的频率，实际上是将原来的topic以新的频率转成新的topic，实际测试infra1才是对应左目相机。

rosrun topic_tools throttle messages /camera/color/image_raw 4.0/color
rosrun topic_tools throttle messages /camera/infra1/image_rect_raw 4.0/infra_left
rosrun topic_tools throttle messages /camera/infra2/image_rect_raw 4.0/infra_right

2.5 录制数据

rosbag record -O multicameras_calibration /infra_left /infra_right /color

multicameras_calibration.bag为录制数据

3. kalibr 程序标定

这里需要安装kalibr

source /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace/devel/setup.bash

cd  /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace

rosrun kalibr kalibr_calibrate_cameras \
--target /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace/data/april_6x6_A4.yaml \
--bag  /home/lessle6/multicameras_calibration.bag \
--models pinhole-radtan pinhole-radtan pinhole-radtan \
--topics /infra_left /infra_right /color \
--bag-from-to 3202--show-extraction --approx-sync 0.04

参数解释：

• –target /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace/data/april_6x6_A4.yaml 是标定板的配置文件，注意如果选择棋格盘，注意targetCols和targetRows表示的是内侧角点的数量，不是格子数量。
• –bag /home/lessle6/multicameras_calibration.bag \ 是录制的数据包
• models pinhole-radtan pinhole-radtan pinhole-radtan表示三个摄像头的相机模型和畸变模型（解释参考https://github.com/ethz-asl/kalibr/wiki/supported-models，根据需要选取,其中VINS使用的畸变模型是radtan)
• —topics /infra_left /infra_right /color表示三个摄像头对应的拍摄的数据话题
• –bag-from-to 3 202表示处理bag中3-202秒的数据。
• –show-extraction表示显示检测特征点的过程，这些参数可以相应的调整。 可以使用rosbag info 来参看录制的包的信息

报错1：
Cameras are not connected through mutual observations, please check the dataset. Maybe adjust the approx. sync. tolerance.
应该是两个相机时间不同步导致的，需要调整参数：–approx-sync

参考链接：https://github.com/shanmo/Kalibr-camera-calibration/tree/master/stereo%20camera%20calibration/preliminary%20test

调整后：

rosrun kalibr kalibr_calibrate_cameras \
--target /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace/data/april_6x6_A4.yaml \
--bag /home/lessle6/multicameras_calibration.bag \
--models pinhole-radtan pinhole-radtan pinhole-radtan \
--topics /infra_left /infra_right /color \
--bag-from-to 3202--show-extraction --approx-sync 0.1

报错2：
Initialization of focal length failed. You can enable manual input by setting ‘KALIBR_MANUAL_FOCAL_LENGTH_INIT’.
[ERROR] [1668944382.174500]: initialization of focal length for cam with topic /color failed

解决：
如果提示不能得到初始焦距的时候，可以设置：export KALIBR_MANUAL_FOCAL_LENGTH_INIT=1(终端输入)。然后运行程序，当程序运行失败的时候，它会提示要你手动输入一个焦距，Initialization of focal length failed. Provide manual initialization: 这时你手动输入比如 400,给比较大的值，也能收敛。

如果只标定单目：
录制

 rosbag record -O mono_calibration /infra_left 

标定：

source /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace/devel/setup.bash

cd  /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace

rosrun kalibr kalibr_calibrate_cameras \
--target /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace/data/april_6x6_A4.yaml \
--bag  /home/lessle6/mono_calibration.bag \
--models pinhole-radtan \
--topics /infra_left \
--show-extraction 

注意： \前要有空格

4. kalibr 标定结果

如下三个文件：

二、IMU标定

1. 标定工具准备

code_utils和imu_utils都是imu标定需要用到的，用于标定imu噪声密度以及随机游走系数。
imu_utils依赖code_utils，所以先编译code_utils。

1.1 code_utils

mkdir -p /home/lessle6/Project/1Ahahahgraduation/IMU/imu_calib_ws/src
cd /home/lessle6/Project/1Ahahahgraduation/IMU/imu_calib_ws/src
catkin_init_workspace
cd ..
catkin_make
source  /home/lessle6/Project/1Ahahahgraduation/IMU/imu_calib_ws/devel/setup.bash

注意“/home/lessle6/Project/1Ahahahgraduation/IMU/imu_calib_ws”是我的绝对ROS空间地址。

下面下载编译code_utils：

cd /home/lessle6/Project/1Ahahahgraduation/IMU/imu_calib_ws/src
git clone [email protected]:gaowenliang/code_utils.git
cd ..
catkin_make

问题1 catkin_make时出现libdw.h没有找到

sudo apt-get install libdw-dev

问题2 catkin_make时出现backward.hpp没有找到

解决方法：将sumpixel_test.cpp中# include "backward.hpp"改为：#include “code_utils/backward.hpp

1.2 imu_utils

cd  /home/lessle6/Project/1Ahahahgraduation/IMU/imu_calib_ws/src
git clone [email protected]:gaowenliang/imu_utils.git
cd ..
catkin_make

2. 录制数据准备

2.1 编辑IMU的话题

方式：

找到realsense-ros包，进入
/home/lessle6/Packages/RealsenseRos_ws/src/realsense-ros/realsense2_camera/launch（路径仅供参考），
复制一份rs_camera.launch，在rs_camera.launch里面修改：

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

修改为：

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

原因：

将accel和gyro的数据合并得到imu话题，如果不这样做发布的topic中只要加速计和陀螺仪分开的topic，
没有合并的camera/imu topic。

最后运行：

source /home/lessle6/Packages/RealsenseRos_ws/devel/setup.bash
roslaunch /home/lessle6/Packages/RealsenseRos_ws/src/realsense-ros/realsense2_camera/launch/rs_camera.launch

这样就可以播放对应格式的IMU。

2.2 录制数据

rosbag record -O imu_calibration /camera/imu

realsense静止放置，录制一个小时（自定）。
其中imu_calibration是bag包的名字，可以更改，录的包在当前终端目录下，/camera/imu是发布的IMU topic，可以通过以下命令查看。

rostopic list

3. 正式标定工作

3.1 imu_util 工具包launch文件编写

# 进入文件夹
cd /home/lessle6/Project/1Ahahahgraduation/IMU/imu_calib_ws/src/imu_utils/launch 

# 创建文件
touch d455_imu_calibration.launch

# 编辑文件
gedit d455_imu_calibration.launch

文件内容：

<launch><node pkg="imu_utils" type="imu_an" name="imu_an" output="screen"><!--TOPIC名称和上面一致--><param name="imu_topic" type="string" value="/camera/imu"/><!--imu_name 无所谓--><param name="imu_name" type="string" value="d455"/><!--标定结果存放路径--><param name="data_save_path" type="string" value="$(find imu_utils)/data/"/><!--数据录制时间-min--><param name="max_time_min" type="int" value="50"/><!--采样频率，即是IMU频率，采样频率可以使用rostopic hz /camera/imu查看，设置为200，为后面的rosbag play播放频率--><param name="max_cluster" type="int" value="200"/></node></launch>

3.2 imu_util标定程序运行

source /home/lessle6/Project/1Ahahahgraduation/IMU/imu_calib_ws/devel/setup.bash

roslaunch  /home/lessle6/Project/1Ahahahgraduation/IMU/imu_calib_ws/src/imu_utils/launch/d455_imu_calibration.launch

3.3 播放刚才录制的IMU数据包

cd 存放imu_calibration.bag的路径
rosbag play -r 200 imu_calibration.bag

3.4 标定结果

标定结束后在imu_catkin_ws/src/imu_utils/data中生成许多文件，其中d455_imu_param.yaml就是我们想要的结果，展示如下：

%YAML:1.0---
type: IMU
name: d455
Gyr:
   unit:" rad/s"
   avg-axis:
      gyr_n:1.8351398172861977e-03
      gyr_w:1.3154828587252936e-05
   x-axis:
      gyr_n:1.8848941703928685e-03
      gyr_w:1.7010312342829289e-05
   y-axis:
      gyr_n:2.3497663951613673e-03
      gyr_w:1.2699656085618862e-05
   z-axis:
      gyr_n:1.2707588863043573e-03
      gyr_w:9.7545173333106557e-06
Acc:
   unit:" m/s^2"
   avg-axis:
      acc_n:1.7574789006499388e-02
      acc_w:5.3103238396236881e-04
   x-axis:
      acc_n:1.1838936933010856e-02
      acc_w:4.1400494167342325e-04
   y-axis:
      acc_n:1.9827984613668935e-02
      acc_w:6.3400755296148608e-04
   z-axis:
      acc_n:2.1057445472818376e-02
      acc_w:5.4508465725219715e-04

三、IMU+双目相机标定

1. 准备yaml文件

格式参考Kalibr官方教程： https://github.com/ethz-asl/kalibr/wiki/yaml-formats

1.1 编写chain.yaml

参考一、双目相机标定标定结果multicameras_calibration-camchain.yaml，编写chain.yaml：

cam0:
  camera_model: pinhole
  distortion_coeffs:[0.007017020579074508,0.013075992589794715,-0.0037765402744058983,-0.0005132729806830811]
  distortion_model: radtan
  intrinsics:[437.44398421645786,437.72233141976125,430.95314113824475,231.60352693067642]
  resolution:[848,480]
  rostopic:/infra_left
cam1:
  T_cn_cnm1:-[0.9999952197233123,0.002108064461866742,-0.0022619891120047486,-0.09575399583929174]-[-0.0021145367376279966,0.9999936666664111,-0.002862754171397105,0.0005322182496990349]-[0.0022559399157413514,0.002867523545717535,0.9999933439997514,-0.0035089144049743597]-[0.0,0.0,0.0,1.0]
  camera_model: pinhole
  distortion_coeffs:[0.018914793505132418,-0.0026985776594766744,-0.0025567868843695152,0.00645205341789554]
  distortion_model: radtan
  intrinsics:[432.2163360247922,431.7881804665646,433.3636493084969,232.14028787830168]
  resolution:[848,480]
  rostopic:/infra_right

T_cn_cnm1:表示的是左目相机到右目相机的旋转和平移，具体的参数可以参考前面标定得到的结果

1.2 编写imu.yaml

参考二、IMU标定标定结果d455_imu_param.yaml，编写imu.yaml：

#Accelerometers
accelerometer_noise_density:1.7574789006499388e-02  #Noise density(continuous-time)
accelerometer_random_walk:5.3103238396236881e-04  #Bias random walk

#Gyroscopes
gyroscope_noise_density:1.8351398172861977e-03   #Noise density(continuous-time)
gyroscope_random_walk:1.3154828587252936e-05  #Bias random walk

rostopic:/imu      #the IMU ROS topic
update_rate:200.0      #Hz(for discretization of the values above)

1.3 april_6x6_A4.yaml

第一节写过的：

target_type:'aprilgrid' #gridtype
tagCols:6               #number of apriltags
tagRows:6               #number of apriltags
tagSize:0.021           #size of apriltag, edge to edge [m]
tagSpacing:0.3          # 小格子与大格子边长比例
codeOffset:0            #code offset for the first tag in the aprilboard

1.4 rs_camera.launch

复制realsense-ros包中rs_camera.launch，更改内容为:
(1) imu和双目数据时间对齐

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

(2)合并加速计和陀螺仪的topic

2. 录制数据

2.1 关闭结构光

首先关闭IR：
默认开始IR结构光时，双目图像会有很多点，这些点可能对标定有影响，所以使用时需要关闭结构光。
终端1：

source /home/lessle6/Packages/RealsenseRos_ws/devel/setup.bash
roslaunch /home/lessle6/Packages/RealsenseRos_ws/src/realsense-ros/realsense2_camera/launch/rs_camera.launch

再打开一个终端2：

rosrun rqt_reconfigure rqt_reconfigure

打开后将camera->stereo_module中的emitter_enabled设置为off(0) 。

2.2 可视化双目图像

新打开终端，运行rviz

rviz

修改Fiexd Fram 为camera_link

之后在里面add rgb和双目对应的topic，/camera/color/image_raw、/camera/infra1/image_rect_raw、/camera/infra2/image_rect_raw展示如下：
录制过程参考https://www.youtube.com/watch?v=puNXsnrYWTY&app=desktop，同样注意双目图像在整个过程要包含整个标定板，同时运动不能太快，这样会造成图像过于模糊，在前后左右上下方向来回移动，录制大概90s以上。

2.3 修改相机播包帧数

调整imu和双目topic的发布频率以及以新的topic名发布它们，其中双目图像的发布频率改为20Hz，imu发布频率改为200Hz

rosrun topic_tools throttle messages /camera/infra1/image_rect_raw 20.0/infra_left
rosrun topic_tools throttle messages /camera/infra2/image_rect_raw 20.0/infra_right
rosrun topic_tools throttle messages /camera/imu 200.0/imu

2.4 录制数据

rosbag record -O imu_stereo.bag /infra_left /infra_right /imu

imu_stereo.bag为录制数据

3. kalibr 程序标定

source /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace/devel/setup.bash

cd  /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace

rosrun kalibr kalibr_calibrate_imu_camera \
--bag  /home/lessle6/imu_stereo.bag \
--cam /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace/data/chain.yaml \
--imu /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace/data/imu.yaml \
--target /home/lessle6/Project/1Ahahahgraduation/Calib/kalibr_workspace/data/april_6x6_A4.yaml \
--bag-from-to 2146 \
--show-extraction

4. 标定结果

四、修改VINS的yaml文件

1. realsense_stereo_imu_config.yaml

%YAML:1.0#commonparameters#support:1 imu 1 cam;1 imu 2 cam:2 cam;
imu:1         
num_of_cam:2  

imu_topic:"/camera/imu"
image0_topic:"/camera/infra1/image_rect_raw"
image1_topic:"/camera/infra2/image_rect_raw"
output_path:"/home/zj/output/"

cam0_calib:"left.yaml"
cam1_calib:"right.yaml"
image_width:848
image_height:480#Extrinsic parameter between IMU and Camera.
estimate_extrinsic:1   # 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.
#相机到imu的变换矩阵
body_T_cam0:!!opencv-matrix
   rows:4
   cols:4
   dt: d
   data:[0.99981999,0.00163688,0.0189025,-0.00089318,-0.00146025,0.99995518,-0.00935466,0.00021664,-0.01891696,0.00932537,0.99977757,0.00065183,0.,0.,0.,1.]

body_T_cam1:!!opencv-matrix
   rows:4
   cols:4
   dt: d
   data:[0.99977591,-0.0005314,0.0211626,0.0949139,0.00066889,0.99997871,-0.00649049,-0.00027429,-0.0211587,0.00650319,0.99975498,0.0021304,0.,0.,0.,1.]#Multiple thread support
multiple_thread:1#featuretraker paprameters
max_cnt:150            # max feature number in feature tracking
min_dist:30            # min distance between two features 
freq:10                # frequence(Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image 
F_threshold:1.0        # ransac threshold(pixel)
show_track:0           # publish tracking image as topic
flow_back:1            # perform forward and backward optical flow to improve feature tracking accuracy

#optimizationparameters
max_solver_time:0.04  # max solver itration time(ms), to guarantee real time
max_num_iterations:8   # max solver itrations, to guarantee real time
keyframe_parallax:10.0 # keyframe selection threshold(pixel)#imuparameters       The more accurate parameters you provide, the better performance
acc_n:1.7574789006499388e-02        # accelerometer measurement noise standard deviation. #0.20.04
gyr_n:1.8351398172861977e-03      # gyroscope measurement noise standard deviation.     #0.050.004
acc_w:5.3103238396236881e-04      # accelerometer bias random work noise standard deviation.  #0.002
gyr_w:1.3154828587252936e-05    # gyroscope bias random work noise standard deviation.     #4.0e-5
g_norm:9.78921469         # gravity magnitude

#unsynchronizationparameters
estimate_td:1                      # online estimate time offset between camera and imu
td:0           # initial value of time offset. unit: s. readed image clock + td = real image clock(IMU clock)#loopclosure parameters
load_previous_pose_graph:0        # load and reuse previous pose graph; load from 'pose_graph_save_path'
pose_graph_save_path:"/home/zj/output/pose_graph/" # save and load path
save_image:0                   # save image in pose graph for visualization prupose; you can close this function by setting 0

2 left.yaml

%YAML:1.0---
model_type: PINHOLE
camera_name: camera
image_width:848
image_height:480
distortion_parameters:
   k1:0.007017020579074508
   k2:0.013075992589794715
   p1:-0.0037765402744058983
   p2:-0.0005132729806830811
projection_parameters:
   fx:437.44398421645786
   fy:437.72233141976125
   cx:430.95314113824475
   cy:231.60352693067642

3 right.yaml

%YAML:1.0---
model_type: PINHOLE
camera_name: camera
image_width:848
image_height:480
distortion_parameters:
   k1:0.018914793505132418
   k2:-0.0026985776594766744
   p1:-0.0025567868843695152
   p2:0.00645205341789554
projection_parameters:
   fx:432.2163360247922
   fy:431.7881804665646
   cx:433.3636493084969
   cy:232.14028787830168

五、 运行VINS-FUSION

启动vins

source /home/lessle6/Project/Vins-Fusion-ws/devel/setup.bash

rosrun loop_fusion loop_fusion_node /home/lessle6/Project/Vins-Fusion-ws/src/VINS-Fusion/config/realsense-d455/realsense_stereo_imu_config.yaml
rosrun vins vins_node /home/lessle6/Project/Vins-Fusion-ws/src/VINS-Fusion/config/realsense-d455/realsense_stereo_imu_config.yaml

启动rviz

source /home/lessle6/Project/Vins-Fusion-ws/devel/setup.bash
cd  /home/lessle6/Project/Vins-Fusion-ws
roslaunch vins vins_rviz.launch

启动相机

source /home/lessle6/Packages/RealsenseRos_ws/devel/setup.bash
roslaunch /home/lessle6/Packages/RealsenseRos_ws/src/realsense-ros/realsense2_camera/launch/rs_camera.launch

参考

https://blog.csdn.net/xiaoxiaoyikesu/article/details/105646064

https://blog.csdn.net/qq_40186909/article/details/113104595?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522166312286216782391821994%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=166312286216782391821994&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2allfirst_rank_ecpm_v1~pc_rank_v39-2-113104595-null-null.142%5Ev47%5Epc_rank_34_2,201%5Ev3%5Econtrol_2&utm_term=realsense%20%E7%9A%84%20D%20%E7%9F%A9%E9%98%B5&spm=1018.2226.3001.4187