ORBSLAM2

ORB_SLAM2

https://github.com/xdspacelab/openvslam
https://github.com/raulmur/ORB_SLAM2

更新中…

Install ORB_SLAM2

#install paolin

sudo apt install libglew-dev
sudo apt install libgl1-mesa-dev

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .

#install orbslam2
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/ORB_SLAM2/Examples/ROS
chmod +x build_ros.sh
./build_ros.sh

eigen 编译错误

在Cmakelist 里面更改eigen 的库的版本

ros 编译错误

/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol ‘_ZN5boost6system15system_categoryEv’
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line

解决方案
修改两个target link 如下

target_link_libraries(Stereo
${LIBS}
boost_system
boost_filesystem
)
target_link_libraries(RGBD
${LIBS}
boost_system
boost_filesystem
)

或者

set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
下面添加
-lboost_system
)

Examples

Running Monocular Node
订阅话题：/camera/image_raw
然后提供额外的文件 vocabulary file and a settings file. 例子如下

$rosrun ORB_SLAM2 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE

https://blog.csdn.net/qq_28467367/article/details/92845845

mono usb_cam

$sudo apt-get install ros-kinetic-usb-cam ros-kinetic-image-view
$roslaunch usb_cam usb_cam-test.launch
$export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/ORB_SLAM2/Examples/ROS
$rosrun ORB_SLAM2 Mono ~/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asus.yaml

Install ORB_SLAM2_ROS

另外一个人写的包
https://github.com/appliedAI-Initiative/orb_slam_2_ros

g2o安装
https://github.com/RainerKuemmerle/g2o/
install g2o before BUILD

$git clone https://github.com/RainerKuemmerle/g2o.git
$sudo apt-get install libeigen3-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev
$cd g2o
$mkdir build
$cd build
$cmake ..
$make
$sudo make install

git clone https://github.com/appliedAI-Initiative/orb_slam_2_ros.git
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
--catkin build

ORM_SLAM CUDA 加速

https://github.com/hoangthien94/ORB_SLAM2_CUDA

orbslam2 相机参数标定

https://www.jianshu.com/p/967a35dbb56a
https://docs.opencv.org/3.1.0/dc/dbb/tutorial_py_calibration.html
http://wiki.ros.org/camera_calibration

roslaunch usb_cam usb_cam-test.launch
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/image_raw camera:=/camera

sudo apt-get update由于没有公钥，无法验证下列签名： NO_PUBKEY F42ED6FBAB17C654
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

UZLITI_SLAM

uzliti_slam is a collection of ROS packages for Visual Simultaneous Localization and Mapping (VSLAM).
https://github.com/jhfrost/uzliti_slam