从零到 RTAB-Map 3D 建图

一、环境配置Windows WSL 21️⃣ Windows 端USB 设备转发powershell # 管理员 PowerShell usbipd list # 找到相机 BUSID (1-4) usbipd bind --busid 1-4 # 绑定设备 usbipd attach --wsl --busid 1-4 # 附加到 WSL2️⃣ WSL 端安装依赖bash sudo apt-get update sudo apt-get install libusb-1.0-0-dev libudev-dev \ libssl-dev pkg-config libgtk-3-dev \ git wget cmake build-essential \ libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev \ python3-dev python3-distutils3️⃣ 编译 librealsense跳过内核补丁bash cd ~/catkin_ws git clone https://github.com/IntelRealSense/librealsense.git cd librealsense # 设置 udev 规则 ./scripts/setup_udev_rules.sh # 编译关键FORCE_RSUSB_BACKENDON mkdir build cd build cmake .. -DFORCE_RSUSB_BACKENDON -DBUILD_PYTHON_BINDINGSON -DBUILD_EXAMPLESfalse make -j4 sudo make install sudo ldconfig4️⃣ 验证相机bash export RSUSB_BACKEND1 python3 -c import pyrealsense2 as rs pipeline rs.pipeline() config rs.config() config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30) config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30) pipeline.start(config) frames pipeline.wait_for_frames() print(✅ 相机工作正常) pipeline.stop() 二、安装 RTAB-Mapbash cd ~/catkin_ws/src git clone --depth 1 https://github.com/introlab/rtabmap_ros.git cd ~/catkin_ws catkin_make -j4 source devel/setup.bash三、启动 ROS RTAB-Map三个终端终端 1roscoreROS 核心bash source /opt/ros/noetic/setup.bash roscore终端 2RealSense 相机驱动bash export RSUSB_BACKEND1 source /opt/ros/noetic/setup.bash roslaunch realsense2_camera rs_camera.launch终端 3RTAB-Map 建图bash export RSUSB_BACKEND1 source /opt/ros/noetic/setup.bash source ~/catkin_ws/devel/setup.bash roslaunch rtabmap_ros rtabmap.launch \ rtabmap_args:--delete_db_on_start \ rgb_topic:/camera/color/image_raw \ depth_topic:/camera/depth/image_rect_raw \ camera_info_topic:/camera/color/camera_info \ visualization:true四、查看点云图方法 1RTAB-Map 自带可视化自动打开启动命令加上visualization:true会自动打开rtabmap_viz窗口方法 2RVIZbash# 新终端 source /opt/ros/noetic/setup.bash rviz在 RVIZ 中Add → By topic →/rtabmap/cloud_map→ PointCloud2方法 3查看数据库bash rtabmap-databaseViewer ~/.ros/rtabmap.db