https://github.com/xdspacelab/openvslam https://github.com/raulmur/ORB_SLAM2
更新中…
在Cmakelist 里面更改eigen 的库的版本
/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 )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
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 buildhttps://github.com/hoangthien94/ORB_SLAM2_CUDA
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:=/camerasudo 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 is a collection of ROS packages for Visual Simultaneous Localization and Mapping (VSLAM). https://github.com/jhfrost/uzliti_slam