feat: add camera

2024-07-30 14:20:43 +08:00 · 2024-07-30 14:20:43 +08:00 · e6e28a86a5
parent 3cf3bc8ca8
commit e6e28a86a5
2 changed files with 154 additions and 2 deletions
--- a/ROS/orb_slam3/launch/orb_slam3_1280.launch
+++ b/ROS/orb_slam3/launch/orb_slam3_1280.launch
@ -3,7 +3,7 @@
    <!-- 相机节点 -->
    <node pkg="cv_camera" type="cv_camera_node" name="camera" output="screen">
        <param name="flip_image" value="false" />
-        <param name="device_path" value="/dev/v4l/by-path/platform-3610000.xhci-usb-0:2.3:1.0-video-index0" />
+        <param name="device_path" value="/dev/v4l/by-path/platform-3610000.xhci-usb-0:2.3.4.4:1.0-video-index0" />
        <param name="image_width" value="1280" />
        <param name="image_height" value="720" />
        <param name="rate" value="30"/>
@ -11,9 +11,24 @@
        <param name="rescale_camera_info" value="false"/>
    </node>

+    <!-- 图像处理节点，进行畸变矫正 -->
+    <node name="image_proc" pkg="image_proc" type="image_proc" respawn="false">
+        <remap from="image_raw" to="/camera/image_raw"/>
+        <remap from="camera_info" to="/camera/camera_info"/>
+        <remap from="image_rect_color" to="/camera/image_rect_color"/>
+    </node>
+
+    <node pkg="pantilt_camera_serial" type="pantilt_camera_serial" name="pantilt_camera_serial0" output="screen">
+        <param name="port_name" value="/dev/box_6" />
+        <param name="baud_rate" value="115200" />
+        <param name="query_rate" value="1" />
+    </node>
+
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find orb_slam3)/rviz/orb_slam3_pantilcamera.rviz" required ="true"/>
+
    <!-- ORBSLAM3节点 -->
    <node name="orb_slam3_mono" pkg="orb_slam3" type="Mono" output="screen">
-        <param name="image_topic" value="/camera/image_raw"/>                          <!-- 定义相机话题 -->
+        <param name="image_topic" value="/camera/image_rect_color"/>                          <!-- 定义相机话题 -->
        <param name="config_file" value="$(find orb_slam3)/config/camera1280.yaml"/>    <!-- 定义ORB_SLAM3的配置文件路径 -->
        <param name="vocab_file" value="$(find orb_slam3)/Vocabulary/ORBvoc.txt"/>      <!-- 定义ORB_SLAM3的词典文件路径 -->
        <param name="traj_file" value="KeyFrameTrajectory.txt"/>    <!-- 定义轨迹文件路径 -->
--- a/ROS/orb_slam3/rviz/orb_slam3_pantilcamera.rviz
+++ b/ROS/orb_slam3/rviz/orb_slam3_pantilcamera.rviz
@ -0,0 +1,137 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 71
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+  - Class: rviz_pantilt_plugin/PantiltRvizPanel
+    Name: PantiltRvizPanel
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/image_rect_color
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 848
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  PantiltRvizPanel:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002000500061006e00740069006c0074005200760069007a00500061006e0065006c0100000115000001df000001cc00ffffff000000010000023a000002b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000003d000002b7000000c10100001cfa000000000100000002fb0000000a0049006d0061006700650100000000ffffffff0000005e00fffffffb0000000a0056006900650077007301000003a10000010f0000010000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b000000039fc0100000002fb0000000800540069006d00650100000000000004b0000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000114000002b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 320
+  Y: 88