Ubuntu16.04+ROS+ORBSLAM3编译运行

计算机环境说明:

系统: Ubuntu16.04 + ROS kinetic
OpoenCV: ROS自带的3.3.1

代码编译:

1.官方代码下载

git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git ORB_SLAM3

2.修改CmakeList.txt文件
由于我电脑上安装的Eigen版本与代码要求的不符,所以需要进行如下改动:
将ORBSLAM3主目录下和/ORBSLAM3/Thirdparty/g2o下的CmakeList.txt文件做如下修改:

#find_package(Eigen3 3.1.0 REQUIRED)
find_package(Eigen3 REQUIRED)

3.代码编译

cd ORB_SLAM3
chmod +x build.sh
./build.sh

4.编译报错解决
编译过程中会出现如下报错信息:

/ORB_SLAM3/src/LocalMapping.cc:628:49: error: no match for ‘operator/’ (operand types are ‘cv::Matx<float, 3, 1>’ and ‘float’)
                 x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3);

注: cv::Matx固定维度的矩阵,在编译之前便知道其维度大小,用其替代cv::Mat可以减少内存占用,提高效率.
可能是OpenCV版本的原因,代码不支持此操作符,在不更换OpenCV版本的情况下可以通过修改代码解决此问题:修改步骤如下:
(1)在void KannalaBrandt8::Triangulate_()中注释掉出错的这句话:

x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3)

(2)在void LocalMapping::CreateNewMapPoints()修改为:
(其实就是ORBSLAM3上一版的函数直接copy过来):

void LocalMapping::CreateNewMapPoints()
{
    // Retrieve neighbor keyframes in covisibility graph
    int nn = 10;
    // For stereo inertial case
    if(mbMonocular)
        nn=20;
    vector<KeyFrame*> vpNeighKFs = mpCurrentKeyFrame->GetBestCovisibilityKeyFrames(nn);

    if (mbInertial)
    {
        KeyFrame* pKF = mpCurrentKeyFrame;
        int count=0;
        while((vpNeighKFs.size()<=nn)&&(pKF->mPrevKF)&&(count++<nn))
        {
            vector<KeyFrame*>::iterator it = std::find(vpNeighKFs.begin(), vpNeighKFs.end(), pKF->mPrevKF);
            if(it==vpNeighKFs.end())
                vpNeighKFs.push_back(pKF->mPrevKF);
            pKF = pKF->mPrevKF;
        }
    }

    float th = 0.6f;

    ORBmatcher matcher(th,false);

    cv::Mat Rcw1 = mpCurrentKeyFrame->GetRotation();
    cv::Mat Rwc1 = Rcw1.t();
    cv::Mat tcw1 = mpCurrentKeyFrame->GetTranslation();
    cv::Mat Tcw1(3,4,CV_32F);
    Rcw1.copyTo(Tcw1.colRange(0,3));
    tcw1.copyTo(Tcw1.col(3));
    cv::Mat Ow1 = mpCurrentKeyFrame->GetCameraCenter();

    const float &fx1 = mpCurrentKeyFrame->fx;
    const float &fy1 = mpCurrentKeyFrame->fy;
    const float &cx1 = mpCurrentKeyFrame->cx;
    const float &cy1 = mpCurrentKeyFrame->cy;
    const float &invfx1 = mpCurrentKeyFrame->invfx;
    const float &invfy1 = mpCurrentKeyFrame->invfy;

    const float ratioFactor = 1.5f*mpCurrentKeyFrame->mfScaleFactor;

    // Search matches with epipolar restriction and triangulate
    for(size_t i=0; i<vpNeighKFs.size(); i++)
    {
        if(i>0 && CheckNewKeyFrames())// && (mnMatchesInliers>50))
            return;

        KeyFrame* pKF2 = vpNeighKFs[i];

        GeometricCamera* pCamera1 = mpCurrentKeyFrame->mpCamera, *pCamera2 = pKF2->mpCamera;

        // Check first that baseline is not too short
        cv::Mat Ow2 = pKF2->GetCameraCenter();
        cv::Mat vBaseline = Ow2-Ow1;
        const float baseline = cv::norm(vBaseline);

        if(!mbMonocular)
        {
            if(baseline<pKF2->mb)
            continue;
        }
        else
        {
            const float medianDepthKF2 = pKF2->ComputeSceneMedianDepth(2);
            const float ratioBaselineDepth = baseline/medianDepthKF2;

            if(ratioBaselineDepth<0.01)
                continue;
        }

        // Compute Fundamental Matrix
        cv::Mat F12 = ComputeF12(mpCurrentKeyFrame,pKF2);

        // Search matches that fullfil epipolar constraint
        vector<pair<size_t,size_t> > vMatchedIndices;
        bool bCoarse = mbInertial &&
                ((!mpCurrentKeyFrame->GetMap()->GetIniertialBA2() && mpCurrentKeyFrame->GetMap()->GetIniertialBA1())||
                 mpTracker->mState==Tracking::RECENTLY_LOST);
        matcher.SearchForTriangulation(mpCurrentKeyFrame,pKF2,F12,vMatchedIndices,false,bCoarse);

        cv::Mat Rcw2 = pKF2->GetRotation();
        cv::Mat Rwc2 = Rcw2.t();
        cv::Mat tcw2 = pKF2->GetTranslation();
        cv::Mat Tcw2(3,4,CV_32F);
        Rcw2.copyTo(Tcw2.colRange(0,3));
        tcw2.copyTo(Tcw2.col(3));

        const float &fx2 = pKF2->fx;
        const float &fy2 = pKF2->fy;
        const float &cx2 = pKF2->cx;
        const float &cy2 = pKF2->cy;
        const float &invfx2 = pKF2->invfx;
        const float &invfy2 = pKF2->invfy;

        // Triangulate each match
        const int nmatches = vMatchedIndices.size();
        for(int ikp=0; ikp<nmatches; ikp++)
        {
            const int &idx1 = vMatchedIndices[ikp].first;
            const int &idx2 = vMatchedIndices[ikp].second;

            const cv::KeyPoint &kp1 = (mpCurrentKeyFrame -> NLeft == -1) ? mpCurrentKeyFrame->mvKeysUn[idx1]
                                                                         : (idx1 < mpCurrentKeyFrame -> NLeft) ? mpCurrentKeyFrame -> mvKeys[idx1]
                                                                                                               : mpCurrentKeyFrame -> mvKeysRight[idx1 - mpCurrentKeyFrame -> NLeft];
            const float kp1_ur=mpCurrentKeyFrame->mvuRight[idx1];
            bool bStereo1 = (!mpCurrentKeyFrame->mpCamera2 && kp1_ur>=0);
            const bool bRight1 = (mpCurrentKeyFrame -> NLeft == -1 || idx1 < mpCurrentKeyFrame -> NLeft) ? false
                                                                               : true;

            const cv::KeyPoint &kp2 = (pKF2 -> NLeft == -1) ? pKF2->mvKeysUn[idx2]
                                                            : (idx2 < pKF2 -> NLeft) ? pKF2 -> mvKeys[idx2]
                                                                                     : pKF2 -> mvKeysRight[idx2 - pKF2 -> NLeft];

            const float kp2_ur = pKF2->mvuRight[idx2];
            bool bStereo2 = (!pKF2->mpCamera2 && kp2_ur>=0);
            const bool bRight2 = (pKF2 -> NLeft == -1 || idx2 < pKF2 -> NLeft) ? false
                                                                               : true;

            if(mpCurrentKeyFrame->mpCamera2 && pKF2->mpCamera2){
                if(bRight1 && bRight2){
                    Rcw1 = mpCurrentKeyFrame->GetRightRotation();
                    Rwc1 = Rcw1.t();
                    tcw1 = mpCurrentKeyFrame->GetRightTranslation();
                    Tcw1 = mpCurrentKeyFrame->GetRightPose();
                    Ow1 = mpCurrentKeyFrame->GetRightCameraCenter();

                    Rcw2 = pKF2->GetRightRotation();
                    Rwc2 = Rcw2.t();
                    tcw2 = pKF2->GetRightTranslation();
                    Tcw2 = pKF2->GetRightPose();
                    Ow2 = pKF2->GetRightCameraCenter();

                    pCamera1 = mpCurrentKeyFrame->mpCamera2;
                    pCamera2 = pKF2->mpCamera2;
                }
                else if(bRight1 && !bRight2){
                    Rcw1 = mpCurrentKeyFrame->GetRightRotation();
                    Rwc1 = Rcw1.t();
                    tcw1 = mpCurrentKeyFrame->GetRightTranslation();
                    Tcw1 = mpCurrentKeyFrame->GetRightPose();
                    Ow1 = mpCurrentKeyFrame->GetRightCameraCenter();

                    Rcw2 = pKF2->GetRotation();
                    Rwc2 = Rcw2.t();
                    tcw2 = pKF2->GetTranslation();
                    Tcw2 = pKF2->GetPose();
                    Ow2 = pKF2->GetCameraCenter();

                    pCamera1 = mpCurrentKeyFrame->mpCamera2;
                    pCamera2 = pKF2->mpCamera;
                }
                else if(!bRight1 && bRight2){
                    Rcw1 = mpCurrentKeyFrame->GetRotation();
                    Rwc1 = Rcw1.t();
                    tcw1 = mpCurrentKeyFrame->GetTranslation();
                    Tcw1 = mpCurrentKeyFrame->GetPose();
                    Ow1 = mpCurrentKeyFrame->GetCameraCenter();

                    Rcw2 = pKF2->GetRightRotation();
                    Rwc2 = Rcw2.t();
                    tcw2 = pKF2->GetRightTranslation();
                    Tcw2 = pKF2->GetRightPose();
                    Ow2 = pKF2->GetRightCameraCenter();

                    pCamera1 = mpCurrentKeyFrame->mpCamera;
                    pCamera2 = pKF2->mpCamera2;
                }
                else{
                    Rcw1 = mpCurrentKeyFrame->GetRotation();
                    Rwc1 = Rcw1.t();
                    tcw1 = mpCurrentKeyFrame->GetTranslation();
                    Tcw1 = mpCurrentKeyFrame->GetPose();
                    Ow1 = mpCurrentKeyFrame->GetCameraCenter();

                    Rcw2 = pKF2->GetRotation();
                    Rwc2 = Rcw2.t();
                    tcw2 = pKF2->GetTranslation();
                    Tcw2 = pKF2->GetPose();
                    Ow2 = pKF2->GetCameraCenter();

                    pCamera1 = mpCurrentKeyFrame->mpCamera;
                    pCamera2 = pKF2->mpCamera;
                }
            }

            // Check parallax between rays
            cv::Mat xn1 = pCamera1->unprojectMat(kp1.pt);
            cv::Mat xn2 = pCamera2->unprojectMat(kp2.pt);

            cv::Mat ray1 = Rwc1*xn1;
            cv::Mat ray2 = Rwc2*xn2;
            const float cosParallaxRays = ray1.dot(ray2)/(cv::norm(ray1)*cv::norm(ray2));

            float cosParallaxStereo = cosParallaxRays+1;
            float cosParallaxStereo1 = cosParallaxStereo;
            float cosParallaxStereo2 = cosParallaxStereo;

            if(bStereo1)
                cosParallaxStereo1 = cos(2*atan2(mpCurrentKeyFrame->mb/2,mpCurrentKeyFrame->mvDepth[idx1]));
            else if(bStereo2)
                cosParallaxStereo2 = cos(2*atan2(pKF2->mb/2,pKF2->mvDepth[idx2]));

            cosParallaxStereo = min(cosParallaxStereo1,cosParallaxStereo2);

            cv::Mat x3D;
            if(cosParallaxRays<cosParallaxStereo && cosParallaxRays>0 && (bStereo1 || bStereo2 ||
               (cosParallaxRays<0.9998 && mbInertial) || (cosParallaxRays<0.9998 && !mbInertial)))
            {
                // Linear Triangulation Method
                cv::Mat A(4,4,CV_32F);
                A.row(0) = xn1.at<float>(0)*Tcw1.row(2)-Tcw1.row(0);
                A.row(1) = xn1.at<float>(1)*Tcw1.row(2)-Tcw1.row(1);
                A.row(2) = xn2.at<float>(0)*Tcw2.row(2)-Tcw2.row(0);
                A.row(3) = xn2.at<float>(1)*Tcw2.row(2)-Tcw2.row(1);

                cv::Mat w,u,vt;
                cv::SVD::compute(A,w,u,vt,cv::SVD::MODIFY_A| cv::SVD::FULL_UV);

                x3D = vt.row(3).t();

                if(x3D.at<float>(3)==0)
                    continue;

                // Euclidean coordinates
                x3D = x3D.rowRange(0,3)/x3D.at<float>(3);

            }
            else if(bStereo1 && cosParallaxStereo1<cosParallaxStereo2)
            {
                x3D = mpCurrentKeyFrame->UnprojectStereo(idx1);
            }
            else if(bStereo2 && cosParallaxStereo2<cosParallaxStereo1)
            {
                x3D = pKF2->UnprojectStereo(idx2);
            }
            else
            {
                continue; //No stereo and very low parallax
            }

            cv::Mat x3Dt = x3D.t();

            if(x3Dt.empty()) continue;
            //Check triangulation in front of cameras
            float z1 = Rcw1.row(2).dot(x3Dt)+tcw1.at<float>(2);
            if(z1<=0)
                continue;

            float z2 = Rcw2.row(2).dot(x3Dt)+tcw2.at<float>(2);
            if(z2<=0)
                continue;

            //Check reprojection error in first keyframe
            const float &sigmaSquare1 = mpCurrentKeyFrame->mvLevelSigma2[kp1.octave];
            const float x1 = Rcw1.row(0).dot(x3Dt)+tcw1.at<float>(0);
            const float y1 = Rcw1.row(1).dot(x3Dt)+tcw1.at<float>(1);
            const float invz1 = 1.0/z1;

            if(!bStereo1)
            {
                cv::Point2f uv1 = pCamera1->project(cv::Point3f(x1,y1,z1));
                float errX1 = uv1.x - kp1.pt.x;
                float errY1 = uv1.y - kp1.pt.y;

                if((errX1*errX1+errY1*errY1)>5.991*sigmaSquare1)
                    continue;

            }
            else
            {
                float u1 = fx1*x1*invz1+cx1;
                float u1_r = u1 - mpCurrentKeyFrame->mbf*invz1;
                float v1 = fy1*y1*invz1+cy1;
                float errX1 = u1 - kp1.pt.x;
                float errY1 = v1 - kp1.pt.y;
                float errX1_r = u1_r - kp1_ur;
                if((errX1*errX1+errY1*errY1+errX1_r*errX1_r)>7.8*sigmaSquare1)
                    continue;
            }

            //Check reprojection error in second keyframe
            const float sigmaSquare2 = pKF2->mvLevelSigma2[kp2.octave];
            const float x2 = Rcw2.row(0).dot(x3Dt)+tcw2.at<float>(0);
            const float y2 = Rcw2.row(1).dot(x3Dt)+tcw2.at<float>(1);
            const float invz2 = 1.0/z2;
            if(!bStereo2)
            {
                cv::Point2f uv2 = pCamera2->project(cv::Point3f(x2,y2,z2));
                float errX2 = uv2.x - kp2.pt.x;
                float errY2 = uv2.y - kp2.pt.y;
                if((errX2*errX2+errY2*errY2)>5.991*sigmaSquare2)
                    continue;
            }
            else
            {
                float u2 = fx2*x2*invz2+cx2;
                float u2_r = u2 - mpCurrentKeyFrame->mbf*invz2;
                float v2 = fy2*y2*invz2+cy2;
                float errX2 = u2 - kp2.pt.x;
                float errY2 = v2 - kp2.pt.y;
                float errX2_r = u2_r - kp2_ur;
                if((errX2*errX2+errY2*errY2+errX2_r*errX2_r)>7.8*sigmaSquare2)
                    continue;
            }

            //Check scale consistency
            cv::Mat normal1 = x3D-Ow1;
            float dist1 = cv::norm(normal1);

            cv::Mat normal2 = x3D-Ow2;
            float dist2 = cv::norm(normal2);

            if(dist1==0 || dist2==0)
                continue;

            if(mbFarPoints && (dist1>=mThFarPoints||dist2>=mThFarPoints)) // MODIFICATION
                continue;

            const float ratioDist = dist2/dist1;
            const float ratioOctave = mpCurrentKeyFrame->mvScaleFactors[kp1.octave]/pKF2->mvScaleFactors[kp2.octave];

            if(ratioDist*ratioFactor<ratioOctave || ratioDist>ratioOctave*ratioFactor)
                continue;

            // Triangulation is succesfull
            MapPoint* pMP = new MapPoint(x3D,mpCurrentKeyFrame,mpAtlas->GetCurrentMap());

            pMP->AddObservation(mpCurrentKeyFrame,idx1);            
            pMP->AddObservation(pKF2,idx2);

            mpCurrentKeyFrame->AddMapPoint(pMP,idx1);
            pKF2->AddMapPoint(pMP,idx2);

            pMP->ComputeDistinctiveDescriptors();

            pMP->UpdateNormalAndDepth();

            mpAtlas->AddMapPoint(pMP);
            mlpRecentAddedMapPoints.push_back(pMP);
        }
    }
}

5.运行问题解决
输入命令,运行TUM3数据集:

./rgbd_tum /home/**/MyProject/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/**/MyProject/ORB_SLAM3/Examples/RGB-D/TUM3.yaml /media/**/Dataset/TUM/rgbd_dataset_freiburg3_long_office_household /media/**/Dataset/TUM/rgbd_dataset_freiburg3_long_office_household/associate.txt 

会出现如下错误:

Input sensor was set to: RGB-D
OpenCV Error: Parsing error (/home/shiqi/MyProject/ORB_SLAM3/Examples/RGB-D/TUM3.yaml(37): Duplicated key) in cvGetFileNode, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/persistence.cpp, line 832
terminate called after throwing an instance of 'cv::Exception'
  what():  /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/persistence.cpp:832: error: (-212) /home/shiqi/MyProject/ORB_SLAM3/Examples/RGB-D/TUM3.yaml(37): Duplicated key in function cvGetFileNode

Aborted (core dumped)

这是TUM的配置文件TUM3.yaml出现了错误,下面语句出现了两次,删掉一个即可:

Camera.width: 640
Camera.height: 480

6.运行效果

评价:感觉这个ORBSLAM3在RGB-D部分的代码有些问题,在这个序列总是跟丢.