Rtabmap+ORB_SLAM2+D435i（稠密地图）

• 安装ROS
  参考：http://wiki.ros.org/kinetic/Installation/Ubuntu

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
apt-cache search ros-kinetic
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

创建一个ROS Workspace ：

 mkdir -p ~/catkin_ws/src
 cd ~/catkin_ws/src
 catkin_init_workspace
 cd ~/catkin_ws/
 catkin_make

• 安装realsense

  参考：

       https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
       https://blog.csdn.net/qq_41839222/article/details/86503113
       https://blog.csdn.net/jiangchuanhu/article/details/92795791
  

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

• 安装stereo_image_pro（非必要可选）

  参考：
  http://wiki.ros.org/stereo_image_proc
  安装：

sudo apt-get install ros-kinetic-stereo-image-proc 

• 安装ORB_SLAM2

1.安装好要用到的工具

sudo apt-get install cmake
sudo apt-get install git

2.安装Eigen

sudo apt-get install libeigen3-dev（版本问题可能存在大坑）

3.安装Pangolin
依赖：

sudo apt-get install cmake
sudo apt-get install libpython2.7-dev

安装：

git clone https://github.com/stevenlovegrove/Pangolin.gitcd Pangolinmkdir build
cd build
cmake ..
make –j4 
sudo make install

4.安装ORBSLAM2

git clone https://github.com/raulmur/ORB_SLAM2.git 
cd ORB_SLAM2

分别删除以下文件中的“-march=native”
ORB_SLAM2/Thirdparty/g2o/CMakeLists.txt                 第57、58行
ORB_SLAM2/CMakeLists.txt                                第10、11行
ORB_SLAM2/Thirdparty/DBoW2/CMakeLists.txt               第4、5行

chmod +x build.sh
./build.sh
cd 
sudo vim ./.bashrc
在最后一行添加如下：

export ORB_SLAM2_ROOT_DIR=/home/luo/source/ORB_SLAM2 （非常重要）

跑一下ORB_SLAM2验证安装是否成功，如：(跑数据集)

ORB_SLAM根目录下运行：

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/luo/rgbd_dataset_freiburg1_desk

• 安装rtabmap源码

参考：
https://github.com/introlab/rtabmap/wiki/Installation
1.安装依赖

sudo apt-get update
sudo apt-get install libsqlite3-dev libpcl-dev libopencv-dev git cmake libproj-dev libqt5svg5-dev

2.安装

参考：https://github.com/introlab/rtabmap/wiki/Installation

git clone https://github.com/introlab/rtabmap.git rtabmap
打开：rtabmap/corelib/include/rtabmap/core/StereoCameraModel.h第104行（修改双目基线）
将  double baseline() const {return right_.fx()!=0.0 && left_.fx() != 0.0 ? left_.Tx() / left_.fx() - right_.Tx()/right_.fx():0.0;}
改为  double baseline() const {return 0.05;} //right_.fx()!=0.0 && left_.fx() != 0.0 ? left_.Tx() / left_.fx() - right_.Tx()/right_.fx():0.0;}
cd rtabmap/build
cmake -DWITH_G2O=OFF -DCMAKE_INSTALL_PREFIX=/home/luo/catkin_ws/devel  .. （非常重要 如果把GTSAM库也OFF可能会没有回环）
make -j4
sudo make install
sudo ldconfig

测试源码安装是否成功：插上D435i
参考：https://github.com/introlab/rtabmap/wiki/Kinect-mapping

cd ../bin
./rtabmap
步骤：
->OK
->OK
->New database
->Select source ->RGB-D camera ->Realsense D435 ->Realsense 2
->start
界面能显示建图效果，则源码安装成功

若运行start以后界面闪退（天坑），则安装失败 具体情况根据error而定
（若编译的时候报大量Eigen的警告，可能是Eigen的原因，跟换Eigen版本）

编译rtabmap_ros（修改双目基线）

cd ~/catkin_ws
git clone https://github.com/IntelRealSense/realsense-ros
vim realsense-ros/realsense2_camera/src/base_realsense_node.cpp
将第1646行 _camera_info[stream_index].P.at(3) = 0;
更改为： 
    if(stream_index.second == 2)
    {
         _camera_info[stream_index].P.at(3) = -0.05;
    }

git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
catkin_make

3.运行rtabmap

3.1 rtabmap+orb_slam2(双目)+realsense2

     //启动realsense
1. roslaunch realsense2_camera rs_camera.launch 
 //双目矫正（可选）
2. ROS_NAMESPACE=camera rosrun stereo_image_proc stereo_image_proc left/image_raw:=/camera/infra1/image_rect_raw right/image_raw:=/camera/infra2/image_rect_raw left/camera_info:=/camera/infra1/camera_info right/camera_info:=/camera/infra2/camera_info _approximate_sync:=true
 //启动rtabmap
3. roslaunch rtabmap_ros stereo_mapping.launch stereo_namespace:="/camera" rtabmap_args:="--delete_db_on_start --Odom/Strategy 5 --OdomORBSLAM2/VocPath "/home/luo/source/ORB_SLAM2/Vocabulary/ORBvoc.txt"" left_image_topic:=/camera/left/image_rect right_image_topic:=/camera/right/image_rect left_camera_info_topic:=/camera/infra1/camera_info right_camera_info_topic:=/camera/infra2/camera_info /rtabmap/odom_info:=/camera/infra1/camera_info stereo:=true frame_id:=camera_link approx_sync:=false

3.2 rtabmap+orb_slam2(RGB-D)+realsense2

//启动realsense
1. roslaunch realsense2_camera rs_rgbd.launch 
//启动rtabmap
2. roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Odom/Strategy 5 --OdomORBSLAM2/VocPath "/home/luo/source/ORB_SLAM2/Vocabulary/ORBvoc.txt"" depth_topic:=/camera/depth/image_rect_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false

3.3 rtabmap+F2M(RGB-D)+realsense2

//启动相机
1.  roslaunch realsense2_camera rs_rgbd.launch
//启动realsense
2.  roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/image_rect_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false