编译高博ORBSLAM2_with_pointcloud_map，ros下用kinect进行测试。

接着上一篇，完成上一篇配置后继续：

1、Kinect驱动安装，不多说

2、cd到程序根目录，添加build_ros.sh文件，内容如下：

echo "Building ROS nodes"

cd Examples/ROS/ORB_SLAM2
mkdir build
cd build
cmake .. -DROS_BUILD_TYPE=Release
make -j

然后将 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so 和 /usr/lib/x86_64-linux-gnu/libboost_system.so   ，/usr/local/lib/libopencv_core.so   （libopencv_core3.so）拷贝到根目录的lib文件夹下。

CMakeLists.txt修改如下：

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

rosbuild_init()

IF(NOT ROS_BUILD_TYPE)
  SET(ROS_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${ROS_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)

find_package(OpenCV REQUIRED)
find_package(G2O REQUIRED)   ####
find_package(Eigen3 REQUIRED)
find_package(Pangolin REQUIRED)
find_package( PCL REQUIRED )   ###

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${Pangolin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}   ###
)

add_definitions( ${PCL_DEFINITIONS} )   ###
link_directories( ${PCL_LIBRARY_DIRS} )   ###

set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
g2o_core g2o_types_slam3d g2o_solver_csparse g2o_stuff g2o_csparse_extension g2o_types_sim3 g2o_types_sba
${PCL_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
# ${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so
# ${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so
# ${PROJECT_SOURCE_DIR}/../../../lib/libopencv_core.so   ###
)

# Node for monocular camera
rosbuild_add_executable(Mono
src/ros_mono.cc
)

target_link_libraries(Mono
${LIBS}
)

# Node for RGB-D camera
rosbuild_add_executable(RGBD
src/ros_rgbd.cc
)

target_link_libraries(RGBD
${LIBS}
)

然后，

 

sudo gedit Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc
做如下修改：

message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/kinect2/hd/image_color", 1);
message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "/kinect2/hd/image_depth_rect", 1);

然后在根目录下添加kinect标定配置文件  kinect2.yaml，我的内容如下：

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 1.0463505828017596e+03
Camera.fy: 1.0437078414277514e+03
Camera.cx: 9.5816557284218459e+02
Camera.cy: 5.4111840298331435e+02

Camera.k1: 3.4696500016314420e-02
Camera.k2: -2.5306047171647417e-02
Camera.p1: 1.6317902928695393e-03
Camera.p2: 1.1387356663988056e-03
Camera.k3: -1.2753435167343403e-02

Camera.width: 1920
Camera.height: 1080

# Camera frames per second 
Camera.fps: 30.0

# IR projector baseline times fx (aprox.)
Camera.bf: 40.0

# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1

# Close/Far threshold. Baseline times.
ThDepth: 50.0

# Deptmap values factor 
DepthMapFactor: 1000.0

#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000

# ORB Extractor: Scale factor between levels in the scale pyramid 	
ORBextractor.scaleFactor: 1.2

# ORB Extractor: Number of levels in the scale pyramid	
ORBextractor.nLevels: 8

# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast			
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7

#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

#--------------------------------------------------------------------------------------------
# PointCloud Mapping
#--------------------------------------------------------------------------------------------
PointCloudMapping.Resolution: 0.03

最后，

chmod +x build_ros.sh
./build_ros.sh

运行：
新开一个终端：
roslaunch kinect2_bridge kinect2_bridge.launch

cd到程序根目录下：
rosrun ORB_SLAM2_with_pointcloud RGBD Vocabulary/ORBvoc.txt kinect2.yaml