ORB-SLAM3

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已于 2024-03-14 21:41:05 修改

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文章标签：无人机

于 2023-12-23 21:56:47 首次发布

本文链接：https://blog.csdn.net/weixin_62959597/article/details/135173305

版权

基本教程

视觉SLAM · 语雀

XTDrone: 基于PX4、ROS和Gazebo的无人机通用仿真平台 - Gitee.com

由于Noetic自带的OpenCV版本是4.2.0，在编译时需要先修改CMakeList.txt

报错汇总，先看一看

依赖安装（不是全部，重点部分，其他依赖教程很多）

1 ：Pangolin安装

https://github.com/stevenlovegrove/Pangolin

示例运行见另外一篇文章

2 Eigen3安装

#github 有个mirror,版本3.3.4 from 2017
git clone https://github.com/eigenteam/eigen-git-mirror
#安装
cd eigen-git-mirror
mkdir build
cd build
cmake ..
sudo make install
 
#安装后,头文件安装在/usr/local/include/eigen3/

3 realsense2安装

https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages

编译

依赖环境都安装好后进行编译，错误解决注意的地方：

cp -r ~/software/XTDrone/sensing/slam/vslam/ORB_SLAM3/ ~/catkin_ws/src/
mkdir ~/catkin_ws/scripts/
cp ~/catkin_ws/src/ORB_SLAM3/xtdrone* ~/catkin_ws/scripts/
cd ~/catkin_ws/src/ORB_SLAM3

1.修改 CMakeLists.txt文件（两个地方）

find_package(OpenCV 3.2)
#修改为
find_package(OpenCV 4.2)

#第一行加入
add_compile_options(-std=c++14)

2.Xdrone下载的ORBSLAM缺少文件，从官网先下下来补充

#g2o
ORB_SLAM3/Thirdparty/g20/g2o/stuff/timeutil.cpp
ORB_SLAM3/Thirdparty/g20/g2o/stuff/timeutil.h

#DBoW2
ORB_SLAM3/Thirdparty/DBoW2/DUtils/Timestamp.cpp
ORB_SLAM3/Thirdparty/DBoW2/DUtils/Timestamp.h

3.运行官网的./build.sh一直报错，解决办法----分步编译

echo "Configuring and building Thirdparty/DBoW2 ..."
 
cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
 
cd ../../g2o
 
echo "Configuring and building Thirdparty/g2o ..."
 
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
 
cd ../../../
 
echo "Uncompress vocabulary ..."
 
cd Vocabulary
tar -xf ORBvoc.txt.tar.gz
cd ..
 
 
echo "Configuring and building ORB_SLAM3 ..."
 
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j8 #或者make
//不行的话可以换成了 make -j4 来执行

4.编译build_ros.sh

#同样需要改正CMakeLists.txt文件（两个地方）
#文件位置：：ORB_SLAM3/Examples/ROS/ORB_SLAM3/CMakeLists.txt


#find_package(OpenCV 3.2)
#修改为
#find_package(OpenCV 4.2)
#第一行加入
#add_compile_options(-std=c++14)



chmod +x build_ros.sh
./build_ros.sh

#或者运行下边的更快

cd ~/catkin_ws/src/ORB_SLAM3/Examples/ROS/ORB_SLAM3
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j8

运行示例

#终端1
roslaunch px4 indoor1.launch
#终端2
sh xtdrone_run_stereo.sh
cd catkin_ws/scripts/
sh xtdrone_run_orbslam_stereo.sh

###默认xtdrone_run_stereo.sh脚本是用于iris_0的，如果是给别的vehicle提供，需要修改该脚本，将iris_0换为其他vehicle，可以通过rostopic list 查看是哪一种vehicle。

接下来便可以运行控制代码查看效果

cd ~/software/XTDrone/communication
python multirotor_communication.py solo 0


cd ~/software/XTDrone/control/keyboard
python multirotor_keyboard_control.py solo 1 vel