重写kinect2_viewer,编译高博kinect2在orbslam2上跑的程序（解决cmakefile中库依赖和头文件的问题）

该方法详述了高博kinect2_viewer的编译过程

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//單獨編譯kinect2_viewer,實現KInectv2 ORBSLAM2運行
//viewer.cpp修改參考“http://www.cnblogs.com/gaoxiang12/p/5161223.html”
//kinect2_viewer編譯參考“http://www.cnblogs.com/bigzhao/p/6278993.html”
1.修改viewer.cpp參考“http://www.cnblogs.com/gaoxiang12/p/5161223.html”
注意：
viewer.cpp中将原来的#include "orbslam2/System.h"改为现在的#include "System.h"
這兩行也對應修改
string orbVocFile = "/home/tommy/catkin_ws/src/tommy/config/ORBvoc.txt";
string orbSetiingsFile = "/home/tommy/catkin_ws/src/tommy/config/kinect2_qhd.yaml";

#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <sstream>
#include <string>
#include <vector>
#include <cmath>
#include <mutex>
#include <thread>
#include <chrono>

#include <ros/ros.h>
#include <ros/spinner.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>

#include <cv_bridge/cv_bridge.h>

#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>

#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>

#include <kinect2_bridge/kinect2_definitions.h>

#include "System.h"

class Receiver
{
public:
  enum Mode
  {
    IMAGE = 0,
    CLOUD,
    BOTH
  };

private:
  std::mutex lock;

  const std::string topicColor, topicDepth;
  const bool useExact, useCompressed;

  bool updateImage, updateCloud;
  bool save;
  bool running;
  size_t frame;
  const size_t queueSize;

  cv::Mat color, depth;
  cv::Mat cameraMatrixColor, cameraMatrixDepth;
  cv::Mat lookupX, lookupY;

  typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> ExactSyncPolicy;
  typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> ApproximateSyncPolicy;

  ros::NodeHandle nh;
  ros::AsyncSpinner spinner;
  image_transport::ImageTransport it;
  image_transport::SubscriberFilter *subImageColor, *subImageDepth;
  message_filters::Subscriber<sensor_msgs::CameraInfo> *subCameraInfoColor, *subCameraInfoDepth;

  message_filters::Synchronizer<ExactSyncPolicy> *syncExact;
  message_filters::Synchronizer<ApproximateSyncPolicy> *syncApproximate;

  std::thread imageViewerThread;
  Mode mode;

  std::ostringstream oss;
  std::vector<int> params;

  //RGBDSLAM  slam; //the slam object
  ORB_SLAM2::System* orbslam    =nullptr;

public:
  Receiver(const std::string &topicColor, const std::string &topicDepth, const bool useExact, const bool useCompressed)
    : topicColor(topicColor), topicDepth(topicDepth), useExact(useExact), useCompressed(useCompressed),
      updateImage(false), updateCloud(false), save(false), running(false), frame(0), queueSize(5),
      nh("~"), spinner(0), it(nh), mode(CLOUD)
  {
    cameraMatrixColor = cv::Mat::zeros(3, 3, CV_64F);
    cameraMatrixDepth = cv::Mat::zeros(3, 3, CV_64F);
    params.push_back(cv::IMWRITE_JPEG_QUALITY);
    params.push_back(100);
    params.push_back(cv::IMWRITE_PNG_COMPRESSION);
    params.push_back(1);
    params.push_back(cv::IMWRITE_PNG_STRATEGY);
    params.push_back(cv::IMWRITE_PNG_STRATEGY_RLE);
    params.push_back(0);

    string orbVocFile = "/home/tommy/catkin_ws/src/tommy/config/ORBvoc.txt";
    string orbSetiingsFile = "/home/tommy/catkin_ws/src/tommy/config/kinect2_qhd.yaml";

    orbslam = new ORB_SLAM2::System( orbVocFile, orbSetiingsFile ,ORB_SLAM2::System::RGBD, true );
  }

  ~Receiver()
  {
      if (orbslam)
      {
          orbslam->Shutdown();
          delete orbslam;
      }
  }

  void run(const Mode mode)
  {
    start(mode);
    stop();
  }

  void finish()
  {
  }
private:
  void start(const Mode mode)
  {
    this->mode = mode;
    running = true;

    std::string topicCameraInfoColor = topicColor.substr(0, topicColor.rfind('/')) + "/camera_info";
    std::string topicCameraInfoDepth = topicDepth.substr(0, topicDepth.rfind('/')) + "/camera_info";

    image_transport::TransportHints hints(useCompressed ? "compressed" : "raw");
    subImageColor = new image_transport::SubscriberFilter(it, topicColor, queueSize, hints);
    subImageDepth = new image_transport::SubscriberFilter(it, topicDepth, queueSize, hints);
    subCameraInfoColor = new message_filters::Subscriber<sensor_msgs::CameraInfo>(nh, topicCameraInfoColor, queueSize);
    subCameraInfoDepth = new message_filters::Subscriber<sensor_msgs::CameraInfo>(nh, topicCameraInfoDepth, queueSize);

    if(useExact)
    {
      syncExact = new message_filters::Synchronizer<ExactSyncPolicy>(ExactSyncPolicy(queueSize), *subImageColor, *subImageDepth, *subCameraInfoColor, *subCameraInfoDepth);
      syncExact->registerCallback(boost::bind(&Receiver::callback, this, _1, _2, _3, _4));
    }
    else
    {
      syncApproximate = new message_filters::Synchronizer<ApproximateSyncPolicy>(ApproximateSyncPolicy(queueSize), *subImageColor, *subImageDepth, *subCameraInfoColor, *subCameraInfoDepth);
      syncApproximate->registerCallback(boost::bind(&Receiver::callback, this, _1, _2, _3, _4));
    }

    spinner.start();

    std::chrono::milliseconds duration(1);
    while(!updateImage || !updateCloud)
    {
      if(!ros::ok())
      {
        return;
      }
      std::this_thread::sleep_for(duration);
    }
    createLookup(this->color.cols, this->color.rows);

    switch(mode)
    {
    case IMAGE:
      imageViewer();
      break;
    case BOTH:
      imageViewerThread = std::thread(&Receiver::imageViewer, this);
      break;
    }
  }

  void stop()
  {
    spinner.stop();

    if(useExact)
    {
      delete syncExact;
    }
    else
    {
      delete syncApproximate;
    }

    delete subImageColor;
    delete subImageDepth;
    delete subCameraInfoColor;
    delete subCameraInfoDepth;

    running = false;
    if(mode == BOTH)
    {
      imageViewerThread.join();
    }
  }

  void callback(const sensor_msgs::Image::ConstPtr imageColor, const sensor_msgs::Image::ConstPtr imageDepth,
                const sensor_msgs::CameraInfo::ConstPtr cameraInfoColor, const sensor_msgs::CameraInfo::ConstPtr cameraInfoDepth)
  {
    cv::Mat color, depth;

    readCameraInfo(cameraInfoColor, cameraMatrixColor);
    readCameraInfo(cameraInfoDepth, cameraMatrixDepth);
    readImage(imageColor, color);
    readImage(imageDepth, depth);

    // IR image input
    if(color.type() == CV_16U)
    {
      cv::Mat tmp;
      color.convertTo(tmp, CV_8U, 0.02);
      cv::cvtColor(tmp, color, CV_GRAY2BGR);
    }

    lock.lock();
    this->color = color;
    this->depth = depth;
    updateImage = true;
    updateCloud = true;
    lock.unlock();
  }

  void imageViewer()
  {
    cv::Mat color, depth;
    for(; running && ros::ok();)
    {
      if(updateImage)
      {
        lock.lock();
        color = this->color;
        depth = this->depth;
        updateImage = false;
        lock.unlock();

        if (orbslam)
        {
            orbslam->TrackRGBD( color, depth, ros::Time::now().toSec() );
        }
      }

    }

    cv::destroyAllWindows();
    cv::waitKey(100);
  }

  void readImage(const sensor_msgs::Image::ConstPtr msgImage, cv::Mat &image) const
  {
    cv_bridge::CvImageConstPtr pCvImage;
    pCvImage = cv_bridge::toCvShare(msgImage, msgImage->encoding);
    pCvImage->image.copyTo(image);
  }

  void readCameraInfo(const sensor_msgs::CameraInfo::ConstPtr cameraInfo, cv::Mat &cameraMatrix) const
  {
    double *itC = cameraMatrix.ptr<double>(0, 0);
    for(size_t i = 0; i < 9; ++i, ++itC)
    {
      *itC = cameraInfo->K[i];
    }
  }

  void dispDepth(const cv::Mat &in, cv::Mat &out, const float maxValue)
  {
    cv::Mat tmp = cv::Mat(in.rows, in.cols, CV_8U);
    const uint32_t maxInt = 255;

    #pragma omp parallel for
    for(int r = 0; r < in.rows; ++r)
    {
      const uint16_t *itI = in.ptr<uint16_t>(r);
      uint8_t *itO = tmp.ptr<uint8_t>(r);

      for(int c = 0; c < in.cols; ++c, ++itI, ++itO)
      {
        *itO = (uint8_t)std::min((*itI * maxInt / maxValue), 255.0f);
      }
    }

    cv::applyColorMap(tmp, out, cv::COLORMAP_JET);
  }

  void combine(const cv::Mat &inC, const cv::Mat &inD, cv::Mat &out)
  {
    out = cv::Mat(inC.rows, inC.cols, CV_8UC3);

    #pragma omp parallel for
    for(int r = 0; r < inC.rows; ++r)
    {
      const cv::Vec3b
      *itC = inC.ptr<cv::Vec3b>(r),
       *itD = inD.ptr<cv::Vec3b>(r);
      cv::Vec3b *itO = out.ptr<cv::Vec3b>(r);

      for(int c = 0; c < inC.cols; ++c, ++itC, ++itD, ++itO)
      {
        itO->val[0] = (itC->val[0] + itD->val[0]) >> 1;
        itO->val[1] = (itC->val[1] + itD->val[1]) >> 1;
        itO->val[2] = (itC->val[2] + itD->val[2]) >> 1;
      }
    }
  }

  void createLookup(size_t width, size_t height)
  {
    const float fx = 1.0f / cameraMatrixColor.at<double>(0, 0);
    const float fy = 1.0f / cameraMatrixColor.at<double>(1, 1);
    const float cx = cameraMatrixColor.at<double>(0, 2);
    const float cy = cameraMatrixColor.at<double>(1, 2);
    float *it;

    lookupY = cv::Mat(1, height, CV_32F);
    it = lookupY.ptr<float>();
    for(size_t r = 0; r < height; ++r, ++it)
    {
      *it = (r - cy) * fy;
    }

    lookupX = cv::Mat(1, width, CV_32F);
    it = lookupX.ptr<float>();
    for(size_t c = 0; c < width; ++c, ++it)
    {
      *it = (c - cx) * fx;
    }
  }
};

int main(int argc, char **argv)
{
  ros::init(argc, argv, "kinect2_slam", ros::init_options::AnonymousName);

  if(!ros::ok())
  {
    return 0;
  }
  std::string topicColor = "/kinect2/sd/image_color_rect";
  std::string topicDepth = "/kinect2/sd/image_depth_rect";
  bool useExact = true;
  bool useCompressed = false;
  Receiver::Mode mode = Receiver::IMAGE;
  // 初始化receiver
  Receiver receiver(topicColor, topicDepth, useExact, useCompressed);

  //OUT_INFO("starting receiver...");
  receiver.run(mode);

  receiver.finish();

  ros::shutdown();

  return 0;
}

ORBvoc.txt和kinect2_qhd.yaml文件拷貝到和上面對應的文件夾中
2.拷貝ORBSLAM2頭文件到kinect2_viewer文件夾，所有.h文件包含在include文件夾裏面，include文件夾裏面加入orbslam2的Thirdparty文件夾，include文件夾裏面加入libORB_SLAM2.so，按照如下方式修改cmakelist文件
//cmakelist中修改
find_package(Pangolin REQUIRED)
find_package(Eigen3 3.1.0 REQUIRED)
include_directories(include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${kinect2_bridge_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)
add_executable(kinect2_viewer src/viewer.cpp)
target_link_libraries(kinect2_viewer
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
${kinect2_bridge_LIBRARIES}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/include/libORB_SLAM2.so
${PROJECT_SOURCE_DIR}/include/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/include/Thirdparty/g2o/lib/libg2o.so
)
3. 編譯
a).cd /home/tommy/catkin_ws/src/iai_kinect2/kinect2_viewer/build
b).cmake ..
c).make

注意：出现/ws/ORB_SLAM2/src/LoopClosing.cc: In member function ‘void ORB_SLAM2::LoopClosing::Run()’:
/ws/ORB_SLAM2/src/LoopClosing.cc:84:20: error: ‘usleep’ was not declared in this scope
usleep(5000);
需要打开相应的代码，在头文件里面添加usleep 的头文件unistd.h，问题就解决了！
參考“http://blog.csdn.net/wangshuailpp/article/details/70226534”
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