| EuRoC DataSet MH_05 | Handheld Test in Lab | FlVIS on UAV Platform |
|---|---|---|
Under Review, a pre-print version can be found here
Intel RealSense D435i Camera
EuRoC MAV Dataset
We have tested in the following environment:
Ubuntu 16.04 + ROS Kinetic
Ubuntu 18.04 + ROS melodic
Clone the repository to the catkin work space eg. /catkin_ws/src
git clone https://github.com/Ttoto/FLVIS.git
Install 3rd Part library
sudo apt-get install libsuitesparse-dev
sudo apt-get install ros-melodic-octomap
cd catkin_ws/src/FLVIS/3rdPartLib/
./install3rdPartLib.sh
Compile
cd ~/catkin_ws
catkin_make
Download the dataset Link-melab_sn943222072828.bag to /bag folder
Decompress the rosbag:
rosbag decompress melab_sn943222072828.bag
run the following launch files:
roslaunch flvis rviz.launch
roslaunch flvis flvis_bag.launch
Install the realsense driver and its ros wrapper
Boot the d435i camera and echo the camera infomation
roslaunch flvis d435i.launch
rostopic echo /camera/infra1/camera_info
You will get the camera infomation like:
As shown, where the fx=384.16455078125; fy=384.16455078125; cx=320.2144470214844;cy=238.94403076171875.
Edit these information in the config yaml file (say: /launch/d435i/d435i_sn943222072828.yaml):
In the launch file "flvis_d435i.launch", make sure "/yamlconfigfile" is point to the edited config file
<param name="/yamlconfigfile" type="string" value="$(find flvis)/launch/d435i/d435i_sn943222072828.yaml"/>
run the following launch files:
roslaunch flvis rviz.launch
roslaunch flvis flvis_d435i.launch
Download the dataset(say MH_05_difficult) into the bag folder:
roscd flvis/bag/
wget http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_05_difficult/MH_05_difficult.bag
Edit the corresponding bag name in flvis_euroc_mav.launch file:
<node pkg="rosbag" type="play" name="rosbag" args="$(find flvis)/bag/MH_05_difficult.bag"/>
run the following launch files:
roslaunch flvis rviz.launch
roslaunch flvis flvis_euroc_mav.launch
Shengyang Chen(Dept.ME,PolyU): shengyang.chen@connect.polyu.hk
Yajing Zou(Dept.LSGI,PolyU):rick.zou@connect.polyu.hk