ORB-SLAM2實現（kinect V1/ROS）

　　實驗室電腦環境ubuntu14.04和ROS indigo已經裝好。

1. 構建工作空間【非常重要的一步】

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
echo "source devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

　　將source ~/catkin_ws/devel/setup.bash加入到~/.bashrc中去

2. 安裝Pangolin，用於可視化和用戶接口

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j

3. 安裝BLAS和LAPACK

sudo apt-get install libblas-dev
sudo apt-get install liblapack-dev

4. 構建ORB_SLAM2庫

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh

5. 在~/.bashrc添加路徑

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/lzp/catkin_mono_orb/src/ORB_SLAM2/Examples/ROS

6. 在ORB_SLAM2文件夾編譯

mkdir build
cd build
cmake .. -DROS_BUILD_TYPE=Release
make -j

7. 實現

roscore

roslaunch freenect_launch freenect-registered-xyzrgb.launch

rosrun ORB_SLAM2 RGBD /home/lzp/catkin_mono_orb/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/lzp/catkin_mono_orb/src/ORB_SLAM2/Examples/RGB-D/TUM1.yaml

　　注：Kinect驅動的安裝

sudo apt-get install ros-indigo-openni-* ros-indigo-openni2-* \

ros-indigo-freenect-*

rospack profile

 

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普通單目攝像頭實現ORBSLAM2

1. 使用usb_cam作為單目相機驅動

　　從https://github.com/bosch-ros-pkg/usb_cam下載usb_cam，放到工作空間catkin_ws/src下，catkin_make編譯

cd /home/lzp/catkin_mono_orb/src/usb_cam

cd launch

gedit usb_cam-test.launch

 

將以下launch文件內容復制到launch文件中：

<launch>
  <node name="camera" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video0" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="camera" />
    <param name="io_method" value="mmap"/>
    <remap from="/usb_cam/image_raw" to="/camera/image_raw" />
  </node>
  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
    <remap from="image" to="/camera/image_raw"/>
    <param name="autosize" value="true" />
  </node>
</launch>

<remap from="/usb_cam/image_raw" to="/camera/image_raw" />

<remap from="image" to="/camera/image_raw"/>
對兩句進行了修改

2. 中間過程與RGBD過程相同

3. 實現

roscore

roslaunch usb_cam usb_cam-test.launch

rosrun ORB_SLAM2 Mono /home/lzp/catkin_mono_orb/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/lzp/catkin_mono_orb/src/ORB_SLAM2/Examples/Monocular/TUM1.yaml

 

　　OK

 

 

參考：

1. http://webdiis.unizar.es/~raulmur/orbslam/

2 https://github.com/raulmur/ORB_SLAM2