search

RuPingCen / DS-SLAM

Dense Stereo Mapping System in Large Scale Outdoor Scene for Mobile Robot
Other
8 stars 1 forks source link

readme

DS-SLAM

This code is modify from the classical SLAM system ORB-SLAM2, and the code is test on the ubuntu1604 with ROS Kinectic. The processor of platform is I7-4710MQ 16G RAM. The Chinese tutorial can be found in my blog.

image image

Useage

1 Prerequisites

Please follow the ORB-SLAM2 dependency library command to install the dependency library, such as the OPENCV 3.2, Eigen3, ROS Kinetic

2 Clone the code

cd yourworkspace
git clone https://github.com/RuPingCen/DS-SLAM.git
cd Vocabulary
tar -zxvf ORBvoc.txt.tar.gz 
cd ..
./build.sh

3 Run Without ROS

3.1 RGBD Mode

The TUMX.yaml need to set as TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change PATH_TO_SEQUENCE_FOLDERto the uncompressed sequence folder.

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml PATH_TO_SEQUENCE_FOLDER

3.2 STEREO Mode

Change KITTIX.yamlby KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change PATH_TO_DATASET_FOLDER to the uncompressed dataset folder. Change SEQUENCE_NUMBER to 00, 01, 02,.., 11.

./Examples/Stereo/stereo_kitti Vocabulary/ORBvoc.txt Examples/Stereo/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER

4 Run With ROS

4.1 RGBD Mode

This code can be run on the TUM RGBD dataset and ASTRA RGBD camera.

4.1.1 RGBD Mode In TUM Dataset

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/crp/crp/SLAM/ORB_SLAM2/Examples/ROS
rosrun ORB_SLAM2 astra Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM2/TUM1_ROSbag.yaml

Download the TUM RGBD dataset, If you are in China, you can download it from Baidu Cloud (CODE：di9m).

rosbag play rgbd_dataset_freiburg1_room.bag /camera/rgb/image_color:=/camera/rgb/image_raw /camera/depth/image:=/camera/depth/image

launch the pointcloud_mapping node , if you want to get a dense point cloude map.

roslaunch pointcloud_mapping tum1.launch

4.1.2 RGBD Mode In Astra camera

launch the Astra camera node

roslaunch astra_launch astra.launch
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/crp/crp/SLAM/ORB_SLAM2/Examples/ROS
rosrun ORB_SLAM2 astra Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM2/Astra.yaml

launch the pointcloud_mapping node , if you want to get a dense point cloude map.

roslaunch pointcloud_mapping astra.launch

4.2 STEREO Mode

4.2.1 STEREO Mode in KITTI

roslaunch publish_image_datasets publish_kitti.launch 
rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/KITTI00-02.yaml false

4.2.2 STEREO Mode in indemind camera

launch the camera node

roslaunch indemind_stereo stereo.launch
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/crp/crp/SLAM/ORB_SLAM2/Examples/ROS
rosrun ORB_SLAM2 indemind Vocabulary/ORBvoc.txt Examples/Stereo/INDEMIND.yaml true

4.2.3 mapping node with stereo

roslaunch elas_ros kitti_no_rviz.launch
roslaunch pointcloud_mapping kitti.launch