orbslam2_cg

modified version from raulmur/ORB_SLAM2 (commit f2e6f51 on Oct 11, 2017)

ORB-SLAM is a versatile and accurate SLAM solution for Monocular, Stereo and RGB-D cameras.

• ethz-asl/orb_slam_2_ros
• ORB-Slam2: Implementation on my Ubuntu 16.04 with ROS Kinect

[TOC]

Dependencies

• OpenCV 3

• Eigen3

  sudo apt install libeigen3-dev

• Pangolin

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

• G2O

  # git clone https://github.com/RainerKuemmerle/g2o
  
  cd Thirdparty
  svn checkout https://github.com/raulmur/ORB_SLAM2/trunk/Thirdparty/g2o
  
  cd g2o
  mkdir build
  cd build
  cmake .. -DCMAKE_BUILD_TYPE=Release
  make -j4

• DBoW2

  git clone https://github.com/cggos/DBoW2

• ROS (optional)

• Vocabulary ORBvoc.txt

  cd orbslam2/Vocabulary
  wget https://raw.githubusercontent.com/raulmur/ORB_SLAM2/master/Vocabulary/ORBvoc.txt.tar.gz
  tar -xf ORBvoc.txt.tar.gz

Build

• with ROS

  cd orbslam2_cg/platforms/ros_wrapper
  catkin_make -j1

• without ROS

  cd orbslam2_cg/platforms/app
  mkdir build & cd build
  cmake .. & make -j1

Calibration Params

• Stereo Config: ROS Stereo Calibration and get data from the result

  rosrun camera_calibration cameracalibrator.py \
    --approximate=0.05 \
    --size 11x7 \
    --square 0.036 \
    left:=/mynteye/left/image_raw \
    right:=/mynteye/right/image_raw        

Train DBoW2/DBoW3 Voc with your data

• https://github.com/cggos/slamkit/tree/master/visual_vocabulary/dbow_demos

Run

• without ROS

  cd orbslam2_cg/platforms/app/build
  ../scripts/run_<mono_tum>.sh  # modify it before run

• with ROS

  roslaunch orbslam2_ros run_<mono>.launch
  
  roslaunch orbslam2_ros run_stereo_euroc.launch [rviz:=true]
  
  roslaunch orbslam2_ros run_stereo_mynteye_s1030.launch