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
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
本文转载自: https://blog.csdn.net/weixin_41954990/article/details/127928852
版权归原作者 呼叫江江 所有， 如有侵权，请联系我们删除。
版权归原作者 呼叫江江 所有， 如有侵权，请联系我们删除。