怎麼在ubuntu下裝ORB-SLAM2,並用單目攝像頭實時跑起來
(7)安裝BLAS and LAPACK庫
sudo apt-get install libblas-dev
sudo apt-get install liblapack-dev
ROS (optional)
We provide some examples to process the live input of a monocular, stereo or RGB-D camera using ROS. Building these examples is optional. In case you want to use ROS, a version Hydro or newer is needed.其實build.sh就是前面第三方庫的編譯+ORB_SLAM2的編譯,以後可以自己寫一個 類似的終端命令指令碼,就不需要每次編譯都手敲一遍。如果發現編譯出錯,儘量從github或者官網上面git clone原始碼,裡面有很多issus可供參考。
3.安裝ORB_SLAM:
(1)Clone the repository:
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
(2)編譯:我們提供一個指令碼build.sh建立第三方庫和orb-slam2。請確保您已安裝所有所需的依賴項
cd ORB_SLAM2
chmod +x build.sh
./build.sh
ORB-SLAM2最後編譯遇到的問題
1)強制型別轉換問題
錯誤資訊:
/home/melanie/tools/eigen/Eigen/src/Core/AssignEvaluator.h:817:3: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar); ^CMakeFiles/ORB_SLAM2.dir/build.make:350: recipe for target 'CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o' failedmake[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o] Error 1CMakeFiles/Makefile2:178: recipe for target 'CMakeFiles/ORB_SLAM2.dir/all' failedmake[1]: *** [CMakeFiles/ORB_SLAM2.dir/all] Error 2Makefile:83: recipe for target 'all' failedmake: *** [all] Error 2
解決方案:
開啟Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h,
將以下程式碼template <typename MatrixType>
class LinearSolverEigen: public LinearSolver<MatrixType>
{ public: typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
typedef Eigen::Triplet<double> Triplet;
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
修改為:
template <typename MatrixType>
class LinearSolverEigen: public LinearSolver<MatrixType>
{ public:
typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
typedef Eigen::Triplet<double> Triplet;
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;
2)usleep未定義:
錯誤資訊:
/home/melanie/source/SmartCar/ORM_SLAM2/ORB_SLAM2/src/Viewer.cc:159:28:
error: ‘usleep’ was not declared in this scope usleep(3000);
^CMakeFiles/ORB_SLAM2.dir/build.make:494: recipe for target
'CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o' failedmake[2]:
*** [CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o]
Error 1CMakeFiles/Makefile2:178: recipe for target 'CMakeFiles/ORB_SLAM2.dir/all' failedmake[1]: *** [CMakeFiles/ORB_SLAM2.dir/all]
Error 2Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
解決方案:
在source檔案的開頭增加include#include <unistd.h>
需要增加unistd.h的檔案有:
Examples/Monocular/mono_euroc.cc
Examples/Monocular/mono_kitti.cc
Examples/Monocular/mono_tum.cc
Examples/RGB-D/rgbd_tum.cc
Examples/Stereo/stereo_euroc.cc
Examples/Stereo/stereo_kitti.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/System.cc
src/Tracking.cc
src/Viewer.cc
4.測試ORB_SLAM2
(1)官網下載測試資料集
下載記憶體較大,最好用硬碟下好
Monocular 例項
TUM 資料集
- Execute the following command. Change TUMX.yaml to 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
KITTI 資料集
- e the following command. Change KITTIX.yaml by 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/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER
Stereo 例項
KITTI 資料集
- Execute the following command. Change KITTIX.yamlto 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
RGB-D 例項
TUM 資料集
- Associate RGB images and depth images using the python script associate.py. We already provide associations for some of the sequences in Examples/RGB-D/associations download a sequence fromhttp://vision.in.tum.de/data/datasets/rgbd-dataset/download and uncompress it.
- /. You can generate your own associations file executing:
- python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associations.txt
- Execute the following command. Change TUMX.yaml to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change PATH_TO_SEQUENCE_FOLDERto the uncompressed sequence folder. Change ASSOCIATIONS_FILE to the path to the corresponding associations file.
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUMX.yaml PATH_TO_SEQUENCE_FOLDER ASSOCIATIONS_FILE
ROS 例項
處理你自己的例項
你需要建立一個配置檔案來校正你的攝像機。可以參照我們為TUM 和 KITTI 資料集提供的例子在monocular, stereo and RGB-D cameras情況下. 我們使用OpenCV的攝像機校正模型。 See the examples to learn how to create a program that makes use of the ORB-SLAM2 library and how to pass images to the SLAM system. Stereo input must be synchronized and rectified. RGB-D input must be synchronized and depth registered.
SLAM 和 Localization 模式
你可以使用GUI在SLAM 和 Localization 模式下自由切換
SLAM 模式
這是預設模式. 此模式下,系統有三個執行緒並行工作: Tracking, Local Mapping and Loop Closing. 系統不斷定位相機,構建新的地圖然後試圖閉合環形路徑。
Localization 模式
當你有一個比較好的地圖的時候,你可以使用此模式。在這種模式下,區域性地圖構建以及環路閉合將不起作用。 系統在你提供的地圖上定位相機 (which is no longer updated), using relocalization if needed.
參考部落格:http://blog.csdn.net/zhjm07054115/article/details/51706706
https://github.com/raulmur/ORB_SLAM2
5.實時用攝像頭(可筆記本自帶或者外加攝像頭)跑資料
(1)安裝usb_cam package
$ cd ~/catkin_ws/src $ git clone https://github.com/bosch-ros-pkg/usb_cam.git $ cd ~/catkin_ws $ catkin_make筆記本自帶的攝像頭的裝置號一般為/dev/video0 外接攝像頭一般是
<param name= "video_device" value= "/dev/video1" /><br><br> |
(2)把ORB-SLAM2,和 usb_cam放到catkin下src目錄下
$ cd ~/catkin_ws/src $ roscore //初始化 $ roslaunch usb_cam usb_cam-test.launch //啟動usb_cam包下的.launch檔案啟動攝像頭。
此時證明攝像頭可以正常使用
~~~使用自定義 launch 檔案設定攝像頭:
usb_cam 給了我們一個預設的 launch 檔案在如下目錄
1 | ~/catkin-ws/usb_cam/src/usb_cam/launch/usb_cam-test.launch |
如果想要自定義一個我們自己的launch檔案,我們可以複製這個檔案為一個 usb_cam.launch,然後開啟這個檔案:
<launch> <node name="usb_cam" 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="usb_cam" /> <param name="io_method" value="mmap"/> </node> <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"> <remap from="image" to="/usb_cam/image_raw"/> <param name="autosize" value="true" /> </node></launch>1234567891011121314 | <launch><nodename="usb_cam"pkg="usb_cam"type="usb_cam_node"output="screen"><paramname="video_device"value="/dev/video0"/><paramname="image_width"value="640"/><paramname="image_height"value="480"/><paramname="pixel_format"value="yuyv"/><paramname="camera_frame_id"value="usb_cam"/><paramname="io_method"value="mmap"/></node><nodename="image_view"pkg="image_view"type="image_view"respawn="false"output="screen"><remapfrom="image"to="/usb_cam/image_raw"/><paramname="autosize"value="true"/></node></launch> |
其中 /div/video0 表示是第一個攝像頭,如果你有多個攝像頭,可以將此改為 /div/video1 等等。想要檢視當前連線裝置,使用如下命令即可:
ls /dev/video*修改好後執行這個檔案:
roslaunch usb_cam usb_cam.launchError1:[rospack] Error: package 'image_view' not found
表明你的 image_view 沒有安裝,可以執行以下命令安裝即可:
sudo apt-get install ros-indigo-image-view