ORB-SLAM2实现（kinect V1/ROS）

　　实验室电脑环境ubuntu14.04和ROS indigo已经装好。

1. 构建工作空间【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

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

2. 安装Pangolin，用于可视化和用户接口

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

3. 安装BLAS和LAPACK

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

4. 构建ORB_SLAM2库

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

5. 在~/.bashrc添加路径

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

6. 在ORB_SLAM2文件夹编译

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

7. 实现

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驱动的安装

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

ros-indigo-freenect-*

rospack profile

---

普通单目摄像头实现ORBSLAM2

1. 使用usb_cam作为单目相机驱动

　　从https://github.com/bosch-ros-pkg/usb_cam下载usb_cam，放到工作空间catkin_ws/src下，catkin_make编译

cd /home/lzp/catkin_mono_orb/src/usb_cam

cd launch

gedit usb_cam-test.launch

将以下launch文件内容复制到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="" />
    <param name="image_height" value="" />
    <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"/>
对两句进行了修改

2. 中间过程与RGBD过程相同

3. 实现

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

参考：

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

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