zhengguoxian123/cvte-ORBSLAM2

ORB-SLAM2

modified by @rongbohou

Based on the version of MathewDenny http://github.com/MathewDenny.
Add the 2d mapping using scan data.

相关依赖库的安装

OpenCV

We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Required at leat 2.4.3. Tested with OpenCV 2.4.11.

安装 opencv2.412，参考 http://www.samontab.com/web/2014/06/installing-opencv-2-4-9-in-ubuntu-14-04-lts/

Pangolin

We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

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

ROS

We provide some examples to process the live input of a monocular or RGB-D camera using ROS. Building these examples is optional. In case you want to use ROS, a version Hydro or newer is needed.

安装ros indigo，参考ROS官网 http://wiki.ros.org/indigo/Installation/Ubuntu

g2o

https://github.com/RainerKuemmerle/g2o
参考：http://www.cnblogs.com/gaoxiang12/p/4739934.html

Sophus - Lie groups

用于直接法RGBD-DSLAM

git clone https://github.com/strasdat/Sophus.git  
cd Sophus  
git checkout a621ff  
mkdir build  
cd build  
cmake ..  
make

You don't need to install the library since cmake .. writes the package location to ~/.cmake/packages/ where CMake can later find it.

Fast - Corner Detector

用于直接法RGBD-DSLAM

git clone https://github.com/uzh-rpg/fast.git  
cd fast  
mkdir build  
cd build  
cmake ..  
make

vikit_common

用于直接法RGBD-DSLAM
vikit contains camera models, some math and interpolation functions that SVO needs.

cd workspace  
git clone https://github.com/uzh-rpg/rpg_vikit.git

in rpg_vikit/vikit_common/CMakeLists.txt set the flag USE_ROS to FALSE.

cd rpg_vikit/vikit_common  
mkdir build  
cd build  
cmake ..  
make

Sophus,Fast 和 vikit_common的安装参考：https://github.com/uzh-rpg/rpg_svo/wiki/Installation:-Plain-CMake-(No-ROS)

Building library and some nodes

1. Creating a catkin Workspace

mkdir -p ~/catkin_ws/src  
cd ~/catkin_ws/src  
catkin_init_workspace  
git clone https://github.com/rongbohou/cvte-ORBSLAM2.git

2. Building Thirdparty library

DBoW2

cd Thirdparty/DBoW2  
mkdir build  
cd build  
cmake .. -DCMAKE_BUILD_TYPE=Release  
make -j

g2o

cd Thirdparty/g2o  
mkdir build  
cd build  
cmake .. -DCMAKE_BUILD_TYPE=Release  
make -j

RGBD-DSLAM

cd Thirdparty/RGBD-DSLAM  
mkdir build  
cd build  
cmake .. -DCMAKE_BUILD_TYPE=Release  
make -j

3. Building package

cd ~/catkin_ws  
catkin_make --pkg orbslam2

Usage

Kinect2相机驱动和标定

驱动安装, 参考

http://www.luohanjie.com/2016-03-30/under-the-ubuntu-kinectv2-configuration.html

http://www.cnblogs.com/hitcm/p/5118196.html

注意：要安装opencl，否则点云会出现黑线

相机标定参考：https://github.com/code-iai/iai_kinect2

注意：安装顺序一步步来

turtlebot驱动安装

参考：https://github.com/rongbohou/cvte-Turtlebot

rplidar驱动安装

参考：http://wiki.ros.org/rplidar

注意：安装从c++版本

1. localization

"Usage: rosrun ORB_SLAM2 RGBD path_to_vocabulary path_to_settings if_reuse_map if_publish_tf if_use_odom"

功能：在ORB-SLAM定位模式下跟踪机器人并发布tf用于导航。当ORB-SLAM跟丢时，利用机器人底座历程数据odom 或者用直接法估计里程进而发布tf继续用于导航。如果超过一定时间的跟丢，机器人则执行原地旋转。

roslaunch kinect2_bridge kinect2_bridge.launch  
cd ~/rongbo/catkin_ws/orbslam2
rosrun orbslam2 localization /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/ORBvoc.bin /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/kinect2_qhd.yaml true true true

2. mapping: build 2d and 3d map simultaneously

功能：同时构建2d栅格概率地图和3d稀疏特征点地图，两地图是绝对对齐的。

roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation mapping_orbslam_rplidar_2.launch

cd ~/rongbo/catkin_ws/orbslam2
rosrun orbslam2 mapping /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/ORBvoc.bin /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/kinect2_qhd.yaml false false

3. evaluation

功能：利用键盘的非阻塞输入，保存测量点数据（位姿和特征点数量）到本地文件
获取键盘权限

sudo chmod +777 /dev/input/event3

cd ~/rongbo/catkin_ws/orbslam2
rosrun orbslam2 evaluation /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/ORBvoc.bin /home/bobo/rongbo/catkin_ws/src/my_orbslam/config/kinect2_qhd.yaml false false

zhengguoxian123 / cvte-ORBSLAM2