0 环境
Ubuntu18.04 ROS
一、相机及雷达安装
1、相机安装
链接：Ubuntu18.04 https://blog.youkuaiyun.com/weixin_45702256/article/details/108673424
TX2：https://blog.youkuaiyun.com/weixin_45702256/article/details/109329644
2、rslidar_16(速腾聚创)
IP：RS-lidar默认IP是192.168.1.200
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/RoboSense-LiDAR/ros_rslidar
cd ..
catkin_make
一、 imu标定
1.imu的launch文件设置
复制rs_camera.launch文件命名rs_imu_calibration.launch，修改内容
显示话题：打开imu相关话题
其中影响IMU数据同步的为：unite_imu_method
若使用linear_interpolation选项，可以将加速计的数据以插值的方式对齐到陀螺仪数据时间轴上；
若使用copy选项，则是在每一个陀螺仪数据上，附加上时间最近邻的加速计数据。
默认选项为：None。
在该文件中将unite_imu_method对应设置为“linear_interpolation”，两路数据即可以同步为同一个topic: /camera/imu：
使用命令行rostopic echo /camera/imu查看IMU数据，同一个数据中同时包含两个传感器数据
2 Ceres-Solver安装
git clone https://github.com/ceres-solver/ceres-solver
依赖
# Cmake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPAC
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse和CXSparse(可选)
# - 如果您希望将Ceres构建为*static*库(默认)，则可以在Ubuntu主包repository中使用SuiteSparse包
sudo apt-get install libsuitesparse-dev
sudo apt-get update
sudo apt-get install libsuitesparse-dev
安装
mkdir build
cd build
camke ..
make
sudo make install
2 code_utils 安装
修改：在~/catkin_biao/src/code_utils/CMakeLists.txt中，添加：include_directories(“include/code_utils”)
或者：修改~/catkin_biao/src/code_utils/src/sumpixel_test.cpp 文件中的#include "backward.hpp"为#include “code_utils/backward.hpp”
修改：
sudo apt-get install libdw-dev
3 imu_utils安装
4 标定参数文件撰写
cd ~/catkin_biao/src/imu_utils/launch
touch d435i_imu_calibration.launch
gedit d435i_imu_calibration.launch
文件内容：
<launch>
<node pkg="imu_utils" type="imu_an" name="imu_an" output="screen">
<param name="imu_topic" type="string" value= "/camera/imu"/>
<param name="imu_name" type="string" value= "d435i_imu_calibration"/>
<param name="data_save_path" type="string" value= "$(find imu_utils)/data/"/>
<param name="max_time_min" type="int" value= "10"/>
<param name="max_cluster" type="int" value= "100"/>
</node>
</launch>
max_time_min代表的是标定时间，这里的单位是分钟
5 录制IMU数据包
保持相机静止
roslaunch roslaunch realsense2_camera rs_imu_calibration.launch
cd ~/相机标定结果存储
rosbag record -O imu_calibration /camera/imu
6 标定
添加环境标量：
sudo gedit ~/.bashrc
source ~/catkin_biao/devel/setup.bash
# 更新
source ~/.bashrc
标定
roslaunch imu_utils d435i_imu_calibration.launch
# 2
cd ~/相机标定结果存储
rosbag play -r 200 imu_calibration.bag
结束后标定结果保存在cd ~/catkin_biao/src/imu_utils/data文件夹下，文件名为d435i_imu_calibration_imu_param.yaml
结果如下：
%YAML:1.0
---
type: IMU
name: d435i_imu_calibration
Gyr:
unit: " rad/s"
avg-axis:
gyr_n: 2.9731456108076613e-03
gyr_w: 4.6757866248202665e-05
x-axis:
gyr_n: 1.9146867645158580e-03
gyr_w: 4.0793210309672591e-05
y-axis:
gyr_n: 4.3985139109595879e-03
gyr_w: 7.0425101846912364e-05
z-axis:
gyr_n: 2.6062361569475388e-03
gyr_w: 2.9055286588023026e-05
Acc:
unit: " m/s^2"
avg-axis:
acc_n: 7.1287226520511573e-02
acc_w: 1.2369641418984393e-03
x-axis:
acc_n: 6.5809731513744446e-02
acc_w: 1.1504376872998382e-03
y-axis:
acc_n: 8.0287824597207832e-02
acc_w: 1.4939345312911317e-03
z-axis:
acc_n: 6.7764123450582442e-02
acc_w: 1.0665202071043480e-03
在与相机标定中用到参数：陀螺仪和加速度计的随机游走和 高斯白噪声的平均值
Gyr:
avg-axis:
gyr_n: 2.9731456108076613e-03
gyr_w: 4.6757866248202665e-05
Acc:
avg-axis:
acc_n: 7.1287226520511573e-02
acc_w: 1.2369641418984393e-03
7 查看imu默认参数
rostopic echo /camera/gyro/imu_info
rostopic echo /camera/accel/imu_info
rostopic echo /camera/color/camera_info #相机参数
二、相机标定
1 kalibr ubuntu18.04安装
cd ~/catkin_biao/src
git clone https://github.com/ethz-asl/Kalibr.git
cd ..
catkin_make
1 编译出错
解决：修改CMakeLists.txt内容：
将
ExternalProject_Add(suitesparse_src
CMAKE_ARGS -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
DOWNLOAD_COMMAND rm -f SuiteSparse-${VERSION}.tar.gz && wget http://faculty.cse.tamu.edu/davis/SuiteSparse/SuiteSparse-${VERSION}.tar.gz
PATCH_COMMAND tar -xzf ../SuiteSparse-${VERSION}.tar.gz && rm -rf ../suitesparse_src-build/SuiteSparse && sed -i.bu "s/\\/usr\\/local\\/lib/..\\/lib/g" SuiteSparse/SuiteSparse_config/SuiteSparse_config.mk && sed -i.bu "s/\\/usr\\/local\\/include/..\\/include/g" SuiteSparse/SuiteSparse_config/SuiteSparse_config.mk && mv SuiteSparse ../suitesparse_src-build/
CONFIGURE_COMMAND ""
BUILD_COMMAND cd SuiteSparse && make library -j8 -l8
INSTALL_COMMAND cd SuiteSparse && mkdir -p lib && mkdir -p include && make install && cd lib && cp libamd.2.3.1.a libcamd.2.3.1.a libcholmod.2.1.2.a libcxsparse.3.1.2.a libldl.2.1.0.a libspqr.1.3.1.a libumfpack.5.6.2.a libamd.a libcamd.a libcholmod.a libcxsparse.a libldl.a libspqr.a libumfpack.a libbtf.1.2.0.a libccolamd.2.8.0.a libcolamd.2.8.0.a libklu.1.2.1.a librbio.2.1.1.a libsuitesparseconfig.4.2.1.a libbtf.a libccolamd.a libcolamd.a libklu.a librbio.a libsuitesparseconfig.a ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_DESTINATION}/ && cd .. && mkdir -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/suitesparse && cd include && cp amd.h cholmod_matrixops.h SuiteSparseQR_definitions.h umfpack_load_symbolic.h umfpack_save_symbolic.h btf.h cholmod_modify.h SuiteSparseQR.hpp umfpack_numeric.h umfpack_scale.h camd.h cholmod_partition.h umfpack_col_to_triplet.h umfpack_qsymbolic.h umfpack_solve.h ccolamd.h cholmod_supernodal.h umfpack_defaults.h umfpack_report_control.h umfpack_symbolic.h cholmod_blas.h cholmod_template.h umfpack_free_numeric.h umfpack_report_info.h umfpack_tictoc.h cholmod_camd.h colamd.h umfpack_free_symbolic.h umfpack_report_matrix.h umfpack_timer.h cholmod_check.h cs.h umfpack_get_determinant.h umfpack_report_numeric.h umfpack_transpose.h cholmod_cholesky.h klu.h umfpack_get_lunz.h umfpack_report_perm.h umfpack_triplet_to_col.h cholmod_complexity.h ldl.h umfpack_get_numeric.h umfpack_report_status.h umfpack_wsolve.h cholmod_config.h RBio.h umfpack_get_symbolic.h umfpack_report_symbolic.h cholmod_core.h spqr.hpp umfpack_global.h umfpack_report_triplet.h cholmod.h SuiteSparse_config.h umfpack.h umfpack_report_vector.h cholmod_io64.h SuiteSparseQR_C.h umfpack_load_numeric.h umfpack_save_numeric.h ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/suitesparse
)
修改为：
ExternalProject_Add(suitesparse_src
CMAKE_ARGS -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
DOWNLOAD_COMMAND rm -f SuiteSparse-${VERSION}.tar.gz && wget -O SuiteSparse-${VERSION}.tar.gz "https://github.com/jluttine/suitesparse/archive/v${VERSION}.tar.gz"
#DOWNLOAD_COMMAND wget "https://www.baidu.com"
PATCH_COMMAND tar -xzf ../SuiteSparse-${VERSION}.tar.gz && mv suitesparse-${VERSION} ./SuiteSparse && rm -rf ../suitesparse_src-build/SuiteSparse && sed -i.bu "s/\\/usr\\/local\\/lib/..\\/lib/g" SuiteSparse/SuiteSparse_config/SuiteSparse_config.mk && sed -i.bu "s/\\/usr\\/local\\/include/..\\/include/g" SuiteSparse/SuiteSparse_config/SuiteSparse_config.mk && mv SuiteSparse ../suitesparse_src-build/
CONFIGURE_COMMAND ""
BUILD_COMMAND cd SuiteSparse && make library -j8 -l8
INSTALL_COMMAND cd SuiteSparse && mkdir -p lib && mkdir -p include && make install && cd lib && cp libamd.2.3.1.a libcamd.2.3.1.a libcholmod.2.1.2.a libcxsparse.3.1.2.a libldl.2.1.0.a libspqr.1.3.1.a libumfpack.5.6.2.a libamd.a libcamd.a libcholmod.a libcxsparse.a libldl.a libspqr.a libumfpack.a libbtf.1.2.0.a libccolamd.2.8.0.a libcolamd.2.8.0.a libklu.1.2.1.a librbio.2.1.1.a libsuitesparseconfig.4.2.1.a libbtf.a libccolamd.a libcolamd.a libklu.a librbio.a libsuitesparseconfig.a ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_DESTINATION}/ && cd .. && mkdir -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/suitesparse && cd include && cp amd.h cholmod_matrixops.h SuiteSparseQR_definitions.h umfpack_load_symbolic.h umfpack_save_symbolic.h btf.h cholmod_modify.h SuiteSparseQR.hpp umfpack_numeric.h umfpack_scale.h camd.h cholmod_partition.h umfpack_col_to_triplet.h umfpack_qsymbolic.h umfpack_solve.h ccolamd.h cholmod_supernodal.h umfpack_defaults.h umfpack_report_control.h umfpack_symbolic.h cholmod_blas.h cholmod_template.h umfpack_free_numeric.h umfpack_report_info.h umfpack_tictoc.h cholmod_camd.h colamd.h umfpack_free_symbolic.h umfpack_report_matrix.h umfpack_timer.h cholmod_check.h cs.h umfpack_get_determinant.h umfpack_report_numeric.h umfpack_transpose.h cholmod_cholesky.h klu.h umfpack_get_lunz.h umfpack_report_perm.h umfpack_triplet_to_col.h cholmod_complexity.h ldl.h umfpack_get_numeric.h umfpack_report_status.h umfpack_wsolve.h cholmod_config.h RBio.h umfpack_get_symbolic.h umfpack_report_symbolic.h cholmod_core.h spqr.hpp umfpack_global.h umfpack_report_triplet.h cholmod.h SuiteSparse_config.h umfpack.h umfpack_report_vector.h cholmod_io64.h SuiteSparseQR_C.h umfpack_load_numeric.h umfpack_save_numeric.h ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/suitesparse
)
2 编译出错fatal error: libv4l2.h: No such file or directory #include <libv4l2.h>
解决：sudo apt install libv4l-dev
2.标定板制作
2.1
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