ORB-SLAM2
modified by @rongbohou
Based on the version of MathewDenny http://github.com/MathewDenny.
Add the 2d mapping using scan data.
相关依赖库的安装
OpenCV
We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Required at leat 2.4.3. Tested with OpenCV 2.4.11.
安装 opencv2.412， 参考 http://www.samontab.com/web/2014/06/installing-opencv-2-4-9-in-ubuntu-14-04-lts/
Pangolin
We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make -j
ROS
We provide some examples to process the live input of a monocular or RGB-D camera using ROS. Building these examples is optional. In case you want to use ROS, a version Hydro or newer is needed.
安装ros indigo，参考ROS官网 http://wiki.ros.org/indigo/Installation/Ubuntu
g2o
https://github.com/RainerKuemmerle/g2o
参考：http://www.cnblogs.com/gaoxiang12/p/4739934.html
Sophus - Lie groups
用于直接法RGBD-DSLAM
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build
cd build
cmake ..
make
You don't need to install the library since cmake .. writes the package location to ~/.cmake/packages/ where CMake can later find it.
Fast - Corner Detector
用于直接法RGBD-DSLAM
git clone https://github.com/uzh-rpg/fast.git
cd fast
mkdir build
cd build
cmake ..
make
vikit_common
用于直接法RGBD-DSLAM
vikit contains camera models, some math and interpolation functions that SVO needs.
cd workspace
git clone https://github.com/uzh-rpg/rpg_vikit.git
in rpg_vikit/vikit_common/CMakeLists.txt set the flag USE_ROS to FALSE.
cd rpg_vikit/vikit_common
mkdir build
cd build
cmake ..
make
Sophus,Fast 和 vikit_common的安装参考：https://github.com/uzh-rpg/rpg_svo/wiki/Installation:-Plain-CMake-(No-ROS)
Building library and some nodes
1. Creating a catkin Workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
git clone https://github.com/rongbohou/cvte-ORBSLAM2.git
2. Building Thirdparty library
DBoW2
cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j
g2o
cd Thirdparty/g2o
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j
RGBD-DSLAM
cd Thirdparty/RGBD-DSLAM
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j
3. Building package
cd ~/catkin_ws
catkin_make --pkg orbslam2
Usage
Kinect2相机驱动和标定
- 驱动安装, 参考
http://www.luohanjie.com/2016-03-30/under-the-ubuntu-kinectv2-configuration.html
http://www.cnblogs.com/hitcm/p/5118196.html
注意：要安装opencl，否则点云会出现黑线
注意：安装顺序一步步来
turtlebot驱动安装
参考：https://github.com/rongbohou/cvte-Turtlebot
rplidar驱动安装
参考：http://wiki.ros.org/rplidar
注意：安装从c++版本
1. localization
"Usage: rosrun ORB_SLAM2 RGBD path_to_vocabulary path_to_settings if_reuse_map if_publish_tf if_use_odom"
功能：在ORB-SLAM定位模式下跟踪机器人并发布tf用于导航。当ORB-SLAM跟丢时，利用机器人底座历程数据odom 或者 用直接法估计里程 进而发布tf继续用于导航。 如果超过一定时间的跟丢，机器人则执行原地旋转。
roslaunch kinect2_bridge kinect2_bridge.launch
cd ~/rongbo/catkin_ws/orbslam2
rosrun orbslam2 localization /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/ORBvoc.bin /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/kinect2_qhd.yaml true true true
2. mapping: build 2d and 3d map simultaneously
功能：同时构建2d栅格概率地图和3d稀疏特征点地图，两地图是绝对对齐的。
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation mapping_orbslam_rplidar_2.launch
cd ~/rongbo/catkin_ws/orbslam2
rosrun orbslam2 mapping /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/ORBvoc.bin /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/kinect2_qhd.yaml false false
3. evaluation
功能：利用键盘的非阻塞输入，保存测量点数据（位姿和特征点数量）到本地文件
获取键盘权限
sudo chmod +777 /dev/input/event3
cd ~/rongbo/catkin_ws/orbslam2
rosrun orbslam2 evaluation /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/ORBvoc.bin /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/kinect2_qhd.yaml false false