ubuntu16.04下复现PL-VIO的代码

最新推荐文章于 2022-08-19 17:34:02 发布

不做笔记的程序员不是好的码农

最新推荐文章于 2022-08-19 17:34:02 发布

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文章标签： ubuntu

本文链接：https://blog.youkuaiyun.com/may0522/article/details/115494633

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该博客详细介绍了如何搭建并运行名为PL-VIO的开源视觉惯性里程计系统。首先，通过GitHub克隆项目代码，然后在ROS环境中进行编译。成功编译后，可以使用预录的特征数据运行系统，或者直接使用EuRoC MAV数据集。在运行过程中，需要注意调整bag文件播放速度，因为线特征检测较为耗时。博主在尝试运行时遇到了一些问题，但在调整路径后最终成功运行。

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论文：
作者：贺一家
代码地址：
```
https://github.com/HeYijia/PL-VIO
```

代码介绍：

2. Build PL-VIO on ROS
Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/HeYijia/PL-VIO.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash
4.1 Run with feature.bag
Since line detection and matching are time consuming, we can record the feature results from the front-end module as feature.bag and test PL-VIO's back-end module. You can find mh05_feature.bag in config fold and test our system with it:

	roslaunch plvio_estimator euroc_fix_offline.launch 
	roslaunch plvio_estimator vins_rviz.launch 
	rosbag play -r 5 config/mh05_feature.bag 
4.2 Run with EuRoC dataset directly
4.2.1 Download EuRoC MAV Dataset. Although it contains stereo cameras, we only use one camera.

4.2.2 Open three terminals, launch the vins_estimator , rviz and play the bag file respectively. Take MH_05 as example

    roslaunch plvio_estimator euroc_fix_extrinsic.launch 
    roslaunch plvio_estimator vins_rviz.launch 
    rosbag play -r 0.2 YOUR_PATH_TO_DATASET/MH_05_difficult.bag 
(If you fail to open vins_rviz.launch, just open an empty rviz, then load the config file: file -> Open Config-> YOUR_VINS_FOLDER/config/vins_rviz_config.rviz) **Notice: ** Please play your bag with 0.2x speed since the time consuming from line detection.

运行代码：

注释：catkin_ws_plvio这个名字可任意
mkdir -p ~/catkin_ws_plvio/src
cd ~/catkin_ws_plvio/src
catkin_init_workspace

注释：编译整个工作空间
cd ~/catkin_ws_plvio/
catkin_make

注释：使工作空间的环境变量生效
source ~/catkin_ws_plvio/devel/setup.bash
注释：或者可以用下面的，就不用每开一个命令行都要执行一次source语句
echo "source ~/catkin_ws_plvio/devel/setup.bash">> ~/.bashrc

结果：有warning但是能成功创建100%的target

注释：在catkin_ws_plvio的文件夹下打开三个终端执行命令
source ~/catkin_ws_plvio/devel/setup.bash
roslaunch plvio_estimator euroc_fix_offline.launch

source ~/catkin_ws_plvio/devel/setup.bash
roslaunch plvio_estimator vins_rviz.launch

source ~/catkin_ws_plvio/devel/setup.bash
rosbag play -r 5 src/PL-VIO/config/mh05_feature.bag

运行：
	source ~/catkin_ws_plvio/devel/setup.bash
	roslaunch plvio_estimator euroc_fix_extrinsic.launch 

	source ~/catkin_ws_plvio/devel/setup.bash
	roslaunch plvio_estimator vins_rviz.launch 
	
	source ~/catkin_ws_plvio/devel/setup.bash
	rosbag play -r 0.2 /home/lexiaoxia/Datasets/hjydataset/EuRoC/MH_05_difficult.bag 
结果：success(3)

遇到问题：

在 ~/Codes/20210401/PL-VIO/catkin_ws文件夹下的终端：
source ~/Codes/20210401/PL-VIO/catkin_ws/devel/setup.bash
roslaunch plvio_estimator euroc_fix_offline.launch 

source ~/Codes/20210401/PL-VIO/catkin_ws/devel/setup.bash
roslaunch plvio_estimator vins_rviz.launch

source ~/Codes/20210401/PL-VIO/catkin_ws/devel/setup.bash
rosbag play -r 5 ~/Codes/20210401/PL-VIO/catkin_ws/src/PL-VIO/config/mh05_feature.bag
结果：fail(0)