102 lines
2.6 KiB
Markdown
102 lines
2.6 KiB
Markdown
|
# 真实环境点云/深度图仿真(支持CUDA)
|
|||
|
|
|
|||
|
|
### 1 依赖
|
|||
|
|
|
|||
|
|
CUDA; ROS; OpenCV; PCL; (如果已经安装ROS依赖基本都满足) yaml-cpp
|
|||
|
|
```angular2html
|
|||
|
|
sudo apt-get install libyaml-cpp-dev
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
### 2 编译
|
|||
|
|
```angular2html
|
|||
|
|
catkin build
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
### 3 运行
|
|||
|
|
```angular2html
|
|||
|
|
source devel/setup.bash
|
|||
|
|
# CPU版本 (已弃用)
|
|||
|
|
rosrun sensor_simulator sensor_simulator
|
|||
|
|
# GPU版本 (推荐, RTX 3060 深度输出 > 1000fps)
|
|||
|
|
rosrun sensor_simulator sensor_simulator_cuda
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
传感器参数以及点云环境修改见[config](config/config.yaml)，重要参数说明:
|
|||
|
|
```
|
|||
|
|
# 一些话题
|
|||
|
|
odom_topic: "/sim/odom"
|
|||
|
|
depth_topic: "/depth_image"
|
|||
|
|
lidar_topic: "/lidar_points"
|
|||
|
|
# 使用预先构建的点云地图还是随机地图
|
|||
|
|
random_map: true
|
|||
|
|
# 点云地图文件
|
|||
|
|
ply_file:
|
|||
|
|
# 随机地图配置
|
|||
|
|
maze_type: 5 # 1: 溶洞 2: 柱子 3:迷宫 5:森林(也需设置树的点云文件) 6:房间
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
如果使用预先构建的点云地图，可下载我们收集的一个树林的示例: [谷歌云盘](https://drive.google.com/file/d/1WT3vh0m7Gjn0mt4ri-D35mVDgRCT0mNc/view?usp=sharing)
|
|||
|
|
|
|||
|
|
### 4 仿真位置发布与简单可视化（可选）
|
|||
|
|
```angular2html
|
|||
|
|
cd src/sensor_simulator
|
|||
|
|
python sim_odom.py
|
|||
|
|
|
|||
|
|
cd src/sensor_simulator
|
|||
|
|
rviz -d rviz.rviz
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
|
|||
|
|
### 5 实时性与资源占用
|
|||
|
|
|
|||
|
|
cpu 版本 (i7-9700)：
|
|||
|
|
深度图0.02s, 点云0.01s
|
|||
|
|
|
|||
|
|
gpu 版本 (RTX 3060)：
|
|||
|
|
深度图0.001s, 点云0.001s
|
|||
|
|
|
|||
|
|
GPU版资源占用(开30HZ)：
|
|||
|
|
|
|||
|
|
|
|||
|
|
### 6 示例场景
|
|||
|
|
|
|||
|
|
<table>
|
|||
|
|
<tr>
|
|||
|
|
<td align="center">
|
|||
|
|
<img src="img/forest.png" alt="Image 1" style="width:100%;"/>
|
|||
|
|
<p>1. realworld forest</p>
|
|||
|
|
</td>
|
|||
|
|
<td align="center">
|
|||
|
|
<img src="img/building.png" alt="Image 2" style="width:82%;"/>
|
|||
|
|
<p>2. realworld building</p>
|
|||
|
|
</td>
|
|||
|
|
</tr>
|
|||
|
|
<tr>
|
|||
|
|
<td align="center">
|
|||
|
|
<img src="img/perlin3D.png" alt="Image 3" style="width:100%;"/>
|
|||
|
|
<p>3. 3D perlin</p>
|
|||
|
|
</td>
|
|||
|
|
<td align="center">
|
|||
|
|
<img src="img/random_forest.png" alt="Image 4"style="width:100%;"/>
|
|||
|
|
<p>4. random forest</p>
|
|||
|
|
</td>
|
|||
|
|
</tr>
|
|||
|
|
<tr>
|
|||
|
|
<td align="center">
|
|||
|
|
<img src="img/random_room.png" alt="Image 5" style="width:100%;"/>
|
|||
|
|
<p>5. random room</p>
|
|||
|
|
</td>
|
|||
|
|
<td align="center">
|
|||
|
|
<img src="img/random_maze.png" alt="Image 6" style="width:100%;"/>
|
|||
|
|
<p>6. random maze</p>
|
|||
|
|
</td>
|
|||
|
|
</tr>
|
|||
|
|
</table>
|
|||
|
|
|
|||
|
|
**注释:**
|
|||
|
|
|
|||
|
|
1. GPU版本地图无边界可无限延伸; CPU版本地图有边界（可选择复制地图几份，已弃用）
|
|||
|
|
|
|||
|
|
### acknowledgment
|
|||
|
|
|
|||
|
|
Some maps (3D Perlin, random maze) are generated based on: https://github.com/HKUST-Aerial-Robotics/mockamap, thanks for their excellent work!
|