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‎DSO/Installation documentation/DSO_ROS笔记本摄像头的安装与跑通.md

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# dso_ros笔记本摄像头的安装与跑通
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### 环境
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- Ubuntu16.04
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- ROS-kinetic
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- dso_ros catkin版本
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- 笔记本自带单目摄像头
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- 安装编译成功的DSO
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### 安装编译dso_ros
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```
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cd ~/catkin_dso/src
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git clone https://github.com/JakobEngel/dso_ros.git #这里是catkin版本
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export DSO_PATH=/home/YOUR_DSO_PATH/dso
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cd dso_ros
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gedit CMakeLists.txt
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# 修改bin文件路径
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set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
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# 如果不修改，编译生成的bin将会存在build目录下，rosrun会找不到
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mkdir build
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cd build
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cmake ..
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make
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sudo make install
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cd ~/catkin_dso
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catkin_make
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```
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### 安装编译usb_cam
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```
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cd ~/catkin_dso/src
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git clone https://github.com/bosch-ros-pkg/usb_cam.git
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cd ..
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catkin_make
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source ~/catkin_dso/devel/setup.bash
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```
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### 笔记本相机ROS标定
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- ROSwiki有相机矫正的官方文档，有单目的也有立体相机的教程，[官方链接](http://wiki.ros.org/camera_calibration)
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- [参考链接](https://blog.csdn.net/qq_30460905/article/details/80390576)
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##### 1 下载标定板
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[标定板下载链接](http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration?action=AttachFile&do=view&target=check-108.pdf)
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标定板为8x6,A4纸打印出来为，用直尺量square边长为24.5mm（这个根据自己标定板的大小自己量，大点好），即0.0245m，作为标定输入参数。
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##### 2 打开相机
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```
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cd ~/catkin_dso
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source devel/setup.bash
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roslaunch usb_cam usb_cam-test.get
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# launch文件里面默认设备为/dev/video0,外接USB摄像头是有可能是/dev/video1，根据具体情况而定)
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# 如果你没有矫正过的话，你会发现打开相机时会有一条警告
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```
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##### 3 开始矫正
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一般来说正常安装ros都是包含了camera_calibration，输入下面命令检查一下
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```
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~$ rosdep install camera_calibration
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#All required rosdeps installed successfull
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```
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执行矫正文件
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`rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.0245 image:=/usb_cam/image_raw camera:=/usb_cam`
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弹出display窗口
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**注意：**如果没有的话检查你命令输入是否输入正确，例如：8x6,中间不能用 "*" ,是字母 "x"，--size，--square前面是两个"-"，还要注意你的相机发出的话题是不是`usb_cam/image_raw`
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##### 4 采集样本
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- 使得标定板尽量出现在摄像头视野的各个位置里
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- CALIBRATE按钮变绿色，点击等待
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- 点击COMMIT将结果保存到电脑路径：/home/××××/.ros/camera_info/head_camera.yaml
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##### 5 结果格式例下
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```
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[image]
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width
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640
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height
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480
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[narrow_stereo]
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camera matrix
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644.987121 0.000000 331.735116
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0.000000 647.308571 248.505845
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0.000000 0.000000 1.000000
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distortion
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0.248372 -0.436036 -0.008074 -0.000495 0.000000
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rectification
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1.000000 0.000000 0.000000
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0.000000 1.000000 0.000000
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0.000000 0.000000 1.000000
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projection
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669.478394 0.000000 331.064954 0.000000
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0.000000 669.226440 245.232233 0.000000
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0.000000 0.000000 1.000000 0.000000
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```
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参数意义：
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image_width、image_height代表图片的长宽 camera_name为摄像头名
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camera_matrix规定了摄像头的内部参数矩阵
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distortion_model指定了畸变模型
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distortion_coefficients指定畸变模型的系数
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rectification_matrix为矫正矩阵，一般为单位阵
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projection_matrix为外部世界坐标到像平面的投影矩阵
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### 运行dso_ros
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编写相机文件：
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`gedit ~/catkin_dso/src/dso_ros/camera.txt`
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格式如下：
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```
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fx fy cx cy k1 k2 r1 r2
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in_width in_height
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"crop" / "full" / "fx fy cx cy 0"
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out_width out_height
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```
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不同相机的格式写法不同，[官方链接](https://github.com/JakobEngel/dso)
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打开一个终端
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`roscore`
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再开终端
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```
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source ~/catkin_dso/devel/setup.bash
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roslaunch usb_cam usb_cam-test.launch
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```
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再开终端
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```
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source ~/catkin_dso/devel/setup.bash
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rosrun dso_ros dso_live image:=/usb_cam/image_raw calib=/home/YOUR_PATH/camera.txt mode=1
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```
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### 跑通图示
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笔记本摄像头跑通截图：
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![2019-04-28_15-36-13屏幕截图](./image/Notebook_computer_dso.png)
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### 可能遇到的问题
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`error1`
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```
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/usr/bin/ld: CMakeFiles/dso_live.dir/src/main.cpp.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
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/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
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collect2: error: ld returned 1 exit status
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CMakeFiles/dso_live.dir/build.make:198: recipe for target 'bin/dso_live' failed
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make[3]: *** [bin/dso_live] Error 1
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```
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##### error1解决办法
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```
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cd ~/catkin_dso/src/dso_ros
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gedit CMakeLists.txt
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# 编辑前：
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target_link_libraries(dso_live ${DSO_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS})
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# 编辑后：
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target_link_libraries(dso_live ${DSO_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS} GL glut GLU boost_system)
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```
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`error2`
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```
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# 运行dso_ros出现
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Couldn't find executable named dso_live below /home/chuanxu/catkin_dos/src/dso_ros
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```
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##### error2解决办法
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- 可能原因1：下错了版本,下成了rosbuild,重新下载catkin版本并编译测试。
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- 可能原因2：rosrun ××× 路径错误，找不到camera.txt，检查路径并修正即可。
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`error3`
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xbot上安装 usb_cam 出现error:
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```
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[usb_cam-1] process has died [pid 5257, exit code 1, cmd /home/zkzdzn/catkin_dso/devel/lib/usb_cam/usb_cam_node __name:=usb_cam __log:=/home/zkzdzn/.ros/log/ea6db8de-6759-11e9-a323-34415de66a2c/usb_cam-1.log].
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log file: /home/zkzdzn/.ros/log/ea6db8de-6759-11e9-a323-34415de66a2c/usb_cam-1*.log
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```
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##### error3解决办法
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- `rostopic list`
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- 找到自己相机发布的image topic 例如： /camera/color/image_raw
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- 找到usb_cam launch文件 修改重映射 remap 到自己相机发布的topic
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```
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</node>
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<node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
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# 修改前
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<remap from="image" to="/usb_cam/image_raw"/>
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# 修改后
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<remap from="image" to="/camera/color/image_raw"/>
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<param name="autosize" value="true" />
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</node>
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</launch>
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```
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‎DSO/Installation documentation/DSO在仿真中xbot的部署文档.md

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# DSO在仿真xbot上的部署
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### 环境
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- Ubuntu 16.04
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- bro2018fall-codes
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- DSO
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- DSO_ROS catkin版本
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- 仿真xbot自带摄像头
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### 操作步骤
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打开仿真环境:
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```
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cd catkin_ws/ # 包含仿真环境的工作空间
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source devel/setup.bash
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roslaunch robot_sim_demo robot_spawn.launch
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```
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重新打开一个终端,查看当前工作相机发布话题
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```
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rostopic list
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# /camera_D415/rgb/image_raw 使我们要的发布图像信息话题
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```
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再打开一个终端
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```
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cd catkin_dso/src/usb_cam/launch
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gedit usb_cam-test.launch
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# 修改launch文件如下:
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<launch>
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<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
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<param name="video_device" value="/dev/video0" />
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# 图片长和宽修改为xbot相机参数值
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<param name="image_width" value="320" />
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<param name="image_height" value="240" />
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<param name="pixel_format" value="yuyv" />
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<param name="camera_frame_id" value="usb_cam" />
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<param name="io_method" value="mmap"/>
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</node>
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<node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
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# 重映射xbot现在发布的话题
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<remap from="image" to="/camera_D415/rgb/image_raw"/>
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<param name="autosize" value="true" />
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</node>
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</launch>
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```
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保存后
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```
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cd ~/catkin_dso
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source devel/setup.bash
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roslaunch usb_cam usb_cam-test.launch
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```
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修改xbot仿真摄像头的camera.txt如下:
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```
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277.191356 277.191356 160.5 120.5 0 0 0 0
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320 240
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crop
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320 240
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```
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再开一个终端
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```
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cd catkin_dso
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source devel/setup.bash
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rosrun dso_ros dso_live image:=/camera_D415/rgb/image_raw calib=/home/YOUR_PATH/camera.txt
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```
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再开一个终端
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```
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cd catkin_ws/ #仿真环境所在工作空间
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source devel/setup.bash
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rosrun robot_sim_demo robot_keyboard_teleop.py #启动键盘控制程序
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```
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### 运行结果
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![2019-05-06_22-36-37屏幕截图](./image/simu_dso_1.png)
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![2019-05-06_22-38-40屏幕截图](./image/simu_dso_2.png)
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![2019-05-06_22-23-33屏幕截图](./image/simu_dso_3.png)
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### 仿真中效果和问题总结
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- 仿真中由于光照等因素稳定不变,所以相机的畸变矩阵参数全为0.建图效果相当好.
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- 仿真中xbot上的摄像头输入分辨率太低,只有320 x 240,导致输出图像分辨率也只能是320 x 240,更低的话算法会报错,因为图分辨率过低无法进行建图,没有进行降低分辨率的输出,结果就是:建图缓慢,转弯丢失,和在现实中部署效果一致
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### 改进建议
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- 将xbot携带的摄像头数据进行修改提升,预计效果显著提升.

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