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