OpenVINS 配置,并用自己的设备跑起来~

OpenVINS 下载编译

mkdir -p ~/workspace/catkin_ws_ov/src/
cd ~/workspace/catkin_ws_ov/src/
git clone https://github.com/rpng/open_vins/
cd ..
catkin build

如果提示: catkin command not found 那么安装:

sudo apt-get install python-catkin-tools

接着catkin build
提示找不到 Eigen/Eigen,具体提示如下:

In file included from /home/damon/workspace/catkin_ws_ov/src/open_vins/ov_core/src/sim/BsplineSE3.cpp:21:0:
/home/damon/workspace/catkin_ws_ov/src/open_vins/ov_core/src/sim/BsplineSE3.h:26:23: fatal error: Eigen/Eigen: No such file or directory

可能是我的Eigen版本太老了,于是去Eigen官网下载最新版本,解压到OpenVINS路径下,我这里的路径是"/home/damon/workspace/catkin_ws_ov/src/open_vins/Eigen"
然后依次修改ov_core ,ov_eval,ov_msckf等包的CMakelists.txt

具体是将${Eigen_INCLUDE_DIRS}替换成"/home/damon/workspace/catkin_ws_ov/src/open_vins/Eigen"

弄完之后catkin build
看到这里,你就编译成功了!

现在,跑跑数据集

修改launch文件

vim ~/workspace/catkin_ws_ov/src/open_vins/ov_msckf/launch/pgeneva_eth.launch

修改两处,一个是.bag文件路径,另一个是Ground truth文件的路径

 <param name="path_bag"    type="string" value="/media/damon/Data/EuRoC/MH_01_easy.bag" /><param name="path_gt"     type="string" value="/media/damon/Data/EuRoC/MH_01_easy/mav0/state_groundtruth_estimate0/data.csv" />

~/workspace/catkin_ws_ov
source devel/setup.bash
#开一终端
roscore
#再开一终端
rosrun rviz rviz #在左上角Open config 选择~/workspace/catkin_ws_ov/src/open_vins/ov_msckf/launch/display.rviz
#还开一终端
roslaunch ov_msckf pgeneva_eth.launch 

也可以在launch文件下加一行

<node type="rviz" name="rviz" pkg="rviz" args="-d $(find ov_msckf)/launch/display.rviz" />

这样就不用rosrun rviz了

这是双目msckf在MH_01_easy的结果,蓝线Ground truth,绿线是msckf

用Realsense D435i跑起来

在open_vins/ov_msckf/launch 文件夹下创建一个.launch文件,我这里创建一个d35i.launch,具体内容如下(参考官网做更改):

这里的相机内外参需要自己标定,有很多种标定方法.google去吧~

        [0.0,0.0,9.81][458.654,457.296,367.215,248.375][-0.28340811,0.07395907,0.00019359,1.76187114e-05][457.587,456.134,379.999,255.238][-0.28368365,0.07451284,-0.00010473,-3.55590700e-05][0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,0.0, 0.0, 0.0, 1.0][0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556,0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024,-0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038,0.0, 0.0, 0.0, 1.0]

录制.bag文件

rosbag record -O ~/d435i1.bag /camera/imu /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw
roslaunch ov_msckf euroc.launch 

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