之前博客《ROS实验笔记之——VINS-Mono在l515上的实现》在l515上实现了vins，博客《ROS实验笔记之——SLAM无人驾驶初入门》配置flvis并跑了对应的kitti数据集
本博文在l515上先实现flvis然后再用mlmapping来建图。
camera.launch
<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="1280"/>
<arg name="depth_height" default="720"/>
<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="1280"/>
<arg name="infra_height" default="720"/>
<arg name="enable_infra" default="true"/>
<arg name="enable_infra1" default="true"/>
<arg name="enable_infra2" default="false"/>
<arg name="infra_rgb" default="false"/>
<arg name="color_width" default="1280"/>
<arg name="color_height" default="720"/>
<arg name="enable_color" default="false"/>
<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="true"/>
<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="unite_imu_method" default="copy"/>
<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="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>
l515.launch
<?xml version="1.0"?>
<launch>
<!--Input######################################################################################################-->
<!--FLVIS######################################################################################################-->
<arg name="node_start_delay" default="1.0" />
<param name="/yamlconfigfile" type="string" value="$(find flvis)/launch/d435i/l515.yaml"/>
<param name="/voc" type="string" value="$(find flvis)/voc/voc_orb.dbow3"/>
<!-- Manager -->
<node pkg="nodelet" type="nodelet"
name="flvis_nodelet_manager" args="manager" output="screen"
launch-prefix="bash -c 'sleep 0; $0 $@' ">
<param name="num_worker_threads" value="8" />
</node>
<!-- TrackingNode -->
<node pkg="nodelet" type="nodelet" args="load flvis/TrackingNodeletClass flvis_nodelet_manager"
name="TrackingNodeletClass_loader" output="screen"
launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' ">
<!-- D435i -->
<remap from="/vo/input_image_0" to="/camera/infra/image_raw"/>
<remap from="/vo/input_image_1" to="/camera/depth/image_rect_raw"/>
<remap from="/imu" to="/camera/imu"/>
</node>
<!-- LoopClosingNode -->
<node pkg="nodelet" type="nodelet" args="load flvis/LoopClosingNodeletClass flvis_nodelet_manager"
name="LoopClosingNodeletClass_loader" output="screen"
launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' ">
</node>
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find flvis)/launch/rviz/euroc.rviz" />
</launch>
515的yaml
#type_of_vi:
#0---d435i_depth
#1---euroc mav dataset
#2---d435+pixhawk
#3---d435i_stereo
#4---KITTI_stereo_mode
type_of_vi: 0
#depth image is aligned to left cam0
image_width: 640
image_height: 480
cam0_intrinsics: [457.09765625, 457.234375, 304.328125, 254.6796875]#fx fy cx cy
cam0_distortion_coeffs: [0, 0, 0, 0]#k1 k2 r1 r2
depth_factor: 1000.0
T_imu_cam0:
[ 0.0, 0.0, 1.0, 0.0,
-1.0, 0.0, 0.0, 0.0,
0.0, -1.0, 0.0, 0.0,
0.0, 0.0, 0.0, 1.0]
is_lite_version: False
##vifusion parameter
#Madgwick beta
vifusion_para1: 0.1
#proportion of vision feedforware(roll and pich)
vifusion_para2: 0.01
#acc-bias feedback parameter
vifusion_para3: 0.001
#gyro-bias feedback parameter
vifusion_para4: 0.001
#acc saturation level
vifusion_para5: 0.1
#gyro saturation level
vifusion_para6: 0.1
#feature relate parameter
#max features in a grid
feature_para1: 15
#min features in a grid
feature_para2: 30
#distance of features
feature_para3: 5
#goodFeaturesToTrack detector maxCorners
feature_para4: 1000
#goodFeaturesToTrack detector qualityLevel
feature_para5: 0.01
#goodFeaturesToTrack detector minDistance
feature_para6: 5
#depth recovery
#IIR filter ratio
dr_para1: 0.98
#triangulate range
dr_para2: 40
#Dummy depth enable 1.0, enable 0.0,disable
dr_para3: 1.0
#LocalMapThread
output_sparse_map: False
window_size: 8
#LoopClosureTheread
#define lcKFStart
lcKFStart: 25
#define lcKFDist
lcKFDist: 18
#define lcKFMaxDist
lcKFMaxDist: 50
#define lcKFLast
lcKFLast: 20
#define lcNKFClosest
lcNKFClosest: 2
#define ratioMax
ratioMax: 0.5
#define ratioRansac
ratioRansac: 0.5
#define minPts
minPts: 20
#define minScore
minScore: 0.12
roslaunch flvis camera.launch
roslaunch flvis l515.launch效果如下：
flvis
加上mlmapping
roslaunch flvis camera.launch
roslaunch flvis l515.launch
roslaunch mlmapping mlmapping_l515.launch但发现不能生成，改为试试glmapping（GitHub - HKPolyU-UAV/glmapping: Global-Local Mapping Kit）
好像也不行。。。
https://github.com/HKPolyU-UAV/FLVIS
https://github.com/HKPolyU-UAV/FLVIShttps://github.com/HKPolyU-UAV/MLMappinghttps://github.com/HKPolyU-UAV/MLMapping