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更新ORBSLAM2

This commit is contained in:
Robin Shaun 2020-05-21 14:18:44 +08:00
parent 785283c029
commit 53895d43bc
10 changed files with 92 additions and 18 deletions
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2
sensing/object_detection_and_tracking/YOLO/darknet_ros/darknet_ros/config/px4_tracking.yaml
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@ -1,7 +1,7 @@
subscribers:
camera_reading:
topic: /iris_0/stereo/camera/left/image_raw
topic: /iris_0/stereo_camera/left/image_raw
queue_size: 1
actions:

70
sensing/slam/vslam/ORB_SLAM2/Examples/RGB-D/px4_sitl.yaml Normal file
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@ -0,0 +1,70 @@
%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 554.254691191187
Camera.fy: 554.254691191187
Camera.cx: 320.5
Camera.cy: 240.5
Camera.k1: 0.00000001
Camera.k2: 0.00000001
Camera.p1: 0.00000001
Camera.p2: 0.00000001
Camera.k3: 0.00000001
Camera.width: 640
Camera.height: 480
# Camera frames per second
Camera.fps: 20
# IR projector baseline times fx (aprox.)
Camera.bf: 111
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 2
# Deptmap values factor
DepthMapFactor: 25.5
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000
# ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
# ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

4
sensing/slam/vslam/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc
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@ -21,7 +21,9 @@
#include "ViewerAR.h"
#include <opencv2/highgui/highgui.hpp>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <mutex>
#include <thread>
#include <cstdlib>

6
sensing/slam/vslam/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc
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@ -1,7 +1,7 @@
/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
@ -110,6 +110,4 @@ void ImageGrabber::GrabRGBD(const sensor_msgs::ImageConstPtr& msgRGB,const senso
}
mpSLAM->TrackRGBD(cv_ptrRGB->image,cv_ptrD->image,cv_ptrRGB->header.stamp.toSec());
}
}

7
sensing/slam/vslam/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc
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@ -117,11 +117,12 @@ int main(int argc, char **argv)
ros::NodeHandle nh;
ros::Publisher pose_pub = nh.advertise<geometry_msgs::PoseStamped>("/mavros/vision_pose/pose", 100);
//ros::Publisher pose_pub = nh.advertise<geometry_msgs::PoseStamped>("/orbslamv2/vision_pose/pose", 100);
ros::Publisher pose_pub = nh.advertise<geometry_msgs::PoseStamped>("/iris_0/mavros/vision_pose/pose", 100);
igb.SetPub(&pose_pub);
message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/gi/simulation/left/image_raw", 1);
message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "/gi/simulation/right/image_raw", 1);
message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/iris_0/stereo_camera/left/image_raw", 1);
message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "/iris_0/stereo_camera/right/image_raw", 1);
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> sync_pol;
message_filters::Synchronizer<sync_pol> sync(sync_pol(10), left_sub,right_sub);
sync.registerCallback(boost::bind(&ImageGrabber::GrabStereo,&igb,_1,_2));

18
sensing/slam/vslam/ORB_SLAM2/Examples/Stereo/px4_sitl.yaml
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@ -10,16 +10,16 @@ Camera.fy: 376.0
Camera.cx: 376.0
Camera.cy: 240.0
Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.k1: -0.01
Camera.k2: 0.004
Camera.p1: 5e-5
Camera.p2: -1e-4
Camera.width: 752
Camera.height: 480
# Camera frames per second
Camera.fps: 17.0
Camera.fps: 7
# stereo baseline times fx
Camera.bf: 45.12
@ -28,7 +28,7 @@ Camera.bf: 45.12
Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 35
ThDepth: 48
#--------------------------------------------------------------------------------------------
# Stereo Rectification. Only if you need to pre-rectify the images.
@ -40,7 +40,7 @@ LEFT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data:[0, 0, 0, 0, 0.0]
data: [-0.01, 0.004, 5e-5, -1e-4, 0.0]
LEFT.K: !!opencv-matrix
rows: 3
cols: 3
@ -55,7 +55,7 @@ LEFT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [376.0, 0, 376.0, 0, 0, 376.0, 240.0, 0, 0, 0, 1, 0]
data: [376.0, 0, 376.0, 0, 0, 376.0, 240.0, 0, 0, 0, 1, 0]
RIGHT.height: 480
RIGHT.width: 752
@ -63,7 +63,7 @@ RIGHT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data:[0, 0, 0, 0, 0.0]
data: [-0.01, 0.004, 5e-5, -1e-4, 0.0]
RIGHT.K: !!opencv-matrix
rows: 3
cols: 3

1
sensing/slam/vslam/ORB_SLAM2/log.sh Normal file
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@ -0,0 +1 @@
rosbag record /orbslam2/vision_pose/pose /vins_estimator/camera_pose

1
sensing/slam/vslam/ORB_SLAM2/run_euroc.sh Normal file
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@ -0,0 +1 @@
rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml true

1
sensing/slam/vslam/ORB_SLAM2/xtdrone_run_rgbd.sh Normal file
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@ -0,0 +1 @@
rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/px4_sitl.yaml

0
sensing/slam/vslam/ORB_SLAM2/run.sh → sensing/slam/vslam/ORB_SLAM2/xtdrone_run_stereo.sh
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