ORB-SLAM3 paper address: https://arxiv.org/abs/2007.11898
Code address: https://github.com/UZ-SLAMLab/ORB_SLAM3
Native system: Ubuntu 18.04 LTS
Early environment:GCC 7.5、G++ 7.5、Cmake 3.10.2
1. Installation dependencies
1.Pangolin 0.5 Remember: Version ≤ 0.5
Attached is the github URL: https://github.com/stevenlovegrove/Pangolin
Installation command:
1 #安装依赖
2 sudo apt install libglew-dev
3 sudo apt install cmake
4 sudo apt install libpython2.7-dev
5 #可选依赖见github，我没装所以就不贴出来啦
6 #下载并编译
7 git clone https://github.com/stevenlovegrove/Pangolin.git
8 cd Pangolin
9 mkdir build
10 cd build
11 cmake ..
12 cmake --build .
13 #最后不要忘了安装
14 sudo make install
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2.OpenCV 3.2.0
download the official website (https://opencv.org/releases/)opencv3.2.0 installation package
installation command:
1 #安装依赖
2 sudo apt-get install build-essential
3 sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
4 sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
5 #再加上以下依赖，后面出错了，所以先加上
6 sudo apt-get install libgtk-3-dev
7 sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
8 #进入文件夹编译安装
9 mkdir build
10 cd build
11 cmake -D ENABLE_PRECOMPILED_HEADERS=OFF -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
12 sudo make -j8
13 sudo make install
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Environment configuration:
1. sudo gedit /etc/ld.so.conf.d/opencv.conf #添加库路径
2. #里面应该是
3. /usr/local/lib #没有则加上
4. sudo gedit ~/.profile #添加环境变量
5. #末尾加上
6. PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
7. export PKG_CONFIG_PATH
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Common error:
Unable to locate packagelibjasper-dev
1 sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
2 sudo apt update
3 sudo apt install libjasper1 libjasper-dev
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3. ROS Melodic
installs the corresponding version of ROS according to the ROS official website (http://wiki.ros.org/melodic/Installation/Ubuntu). The ROS Melodic installation command is installed on this machine
:
1 #加链接和钥匙
2 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
3 sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
4 sudo apt update
5 #安装完整版，其他的见官网
6 sudo apt install ros-melodic-desktop-full
7 #环境配置
8 echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
9 source ~/.bashrc
10 安装依赖
11 sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
12 sudo apt install python-rosdep
13 sudo rosdep init
14 rosdep update
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Common errors: The main reason sudo rosdep inti、rosdep updatefor reporting errors
is because www.rawgithubusercontent.comthis website is blocked. The error is easy to solve. The error solution
sudo rosdep intiis provided below : 1. Open the file containing the resource download function:rosdep update
sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py
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2. Add proxy: ( download_rosdep_dataAdd the following code in the first line of function try)
url="https://ghproxy.com/"+url
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3. Modify /usr/lib/python2.7/dist-packages/rosdistro/__init__.pythe fileDEFAULT_INDEX_URL
1. sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py
2. DEFAULT_INDEX_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'
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4. Modify the addresses in the remaining 4 files and https://raw.githubusercontent.com/...add before the addresshttps://ghproxy.com/
1. sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py
2. //修改第36行的地址
3. sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/sources_list.py 72行
4. //修改第72行
5. sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/rep3.py
6. //修改第39行
7. sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/manifest_provider/github.py
8. //修改第68行、119行
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5. Solve the error report of the fifth address of Hit
1. sudo gedit /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py
2. //在第204行添加如下代码（即在该函数块下的第一行处）
3. gbpdistro_url = "https://ghproxy.com/" + gbpdistro_url
4. //注意，原网址中代理地址的双引号是中文，直接粘贴复制会报字符识别错误
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- Run it again
rosdep updateand find that the problem is perfectly solved!
After successful installation, create and initialize the working directory
1. mkdir -p ~/catkin_ws/src
2. cd ~/catkin_ws/src
3. catkin_init_workspace
4. cd ~/catkin_ws/ #直接$ cd .. 也一样
5. catkin_make
6. #catkin的构建系统的相关文件保存在build目录中，构建后的可执行文件保存在devel目录中
7. #加载与catkin构建系统相关的环境文件
8. $ source ~/catkin_ws/devel/setup.bash
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In order to build and manage developers' own ROS workspaces, rosinstall needs to be installed.
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
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test:
1. # 第一个终端运行如下命令
2. roscore
3. # 打开第二个终端，这时你会看见一只静止的小海龟
4. rosrun turtlesim turtlesim_node
5. # 如果希望小海龟能够移动，打开第三个终端
6. rosrun turtlesim turtle_teleop_key
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4.Eigen 3
installation command:
sudo apt-get install libeigen3-dev
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Common errors: Errors are reported when subsequent calls to eigen are made. fatal error: Eigen/Core: No such file or directory
Because the eigen library is installed in /usr/include/eigen3/Eigenthe path by default, you need to use the following command to map it to /usr/includethe path.
sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen
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5.Boost 1.72
official website http://www.boost.org/users/download/download source code
installation command
1. #解压
2. tar -xvf boost_1_72_0.tar.bz2
3. #运行解压后生成的bootstrap.sh文件：
4. cd ./boost_1_72_0
5. ./bootstrap.sh
6. #然后使用b2工具进行安装：
7. sudo ./b2 install
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After the installation is completed, the header files are in /usr/local/includethe directory by default, and the .a and .so files are in /usr/local/libthe directory.
6.ORB-SLAM3
Place the downloaded ORB-SLAM3 file into the src folder of the ROS workspace and compile the
installation command (non-ROS version) :
1. #注意在ROS工作空间的src文件夹中下载，或者是下载完成后移入工作空间
2. git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git ORB_SLAM3
3. #编译
4. cd ORB_SLAM3
5. chmod +x build.sh
6. ./build.sh
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Common Mistakes: recipe for target ‘CMakeFiles/ORB_SLAM3.dir/src/LocalMapping.cc.o‘ failed
Solution:
Add the following code toORB_SLAM3-master/include/CameraModels/KannalaBrandt8.h
namespace cv
{
template<typename _Tp, int m, int n> static inline Matx<_Tp, m, n> operator / (const Matx<_Tp, m, n>& a, float alpha)
{
return Matx<_Tp, m, n>(a, 1.f / alpha, Matx_ScaleOp());
}
}
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Installation command (ROS version) :
1. #添加环境变量
2. gedit ~/.bashrc
3. #加入以下内容，PATH改为自己的地址
4. #export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples/ROS
5. export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/yu/catkin_ws/src/ORB_SLAM3/Examples/ROS
6. #再加个这个吧
7. source ~/catkin_ws/devel/setup.bash
8. #编译
9. chmod +x build_ros.sh
10. ./build_ros.sh
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7. Download the data set and run the demo official
website . If you do not use ROS to run, download the ASL format. If you use ROS to run, download the ROS bag non-ROS version . Modify the data set address in the ORB-SLAM3/euroc_examples.sh file.(https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets)
1. #!/bin/bash
2. #pathDatasetEuroc='/Datasets/EuRoC' #Example, it is necesary to change it by the dataset path
3. pathDatasetEuroc='/home/yu/Datasets' #Example, it is necesary to change it by the dataset path
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In addition, the data set file name needs to be changed to the corresponding name in the euroc_examples.sh file, for example, MH_01_easy is changed to MH01.
Next, run the demo
./euroc_examples.sh
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ROS version
install librealsense (using Intel realsense D400 series cameras)
1. sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
2. sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
3. sudo apt-get install librealsense2-dkms
4. sudo apt-get install librealsense2-utils
5. sudo apt-get install librealsense2-dev
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test:
Realsense-viewer
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Camera driver realsense-ros
sudo apt-get install ros-melodic-realsense2-camera
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After compilation is completed, use the following command to test:
roslaunch realsense2_camera demo_pointcloud.launch
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Modify the corresponding node:
1. 打开 ORB_SLAM3/Examples/ROS/ORB_SLAM3/src/ros_rgbd.cc 文件
2. 修改节点（绿色字体）
3. message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/camera/color/image_raw", 1);
4. message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "/camera/aligned_depth_to_color/image_raw", 1);
5. 回到ORB-SLAM3文件夹路径下运行以下命令
6. ./build_ros.sh
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After the camera is calibrated, modify ORB_SLAM3/Examples/ROS/ORB_SLAM3/Asus.yamlthe file
1. cd ~/catkin_ws/src/ORB_SLAM
2. #分别开三个终端, 按顺序每个终端运行一句
3. roscore
4. roslaunch realsense2_camera rs_rgbd.launch
5. rosrun ORB_SLAM3 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/D455.yaml
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reference:
https://blog.csdn.net/qq_36804414/article/details/109241264
https://blog.csdn.net/weixin_43311920/article/details/114796748?utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1.control&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1.control
https://zhuanlan.zhihu.com/p/392082731
https://www.jianshu.com/p/4c621a34ba69
https://blog.csdn.net/qq_39247667/article/details/116707889?utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-6.control&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-6.control
https://blog.csdn.net/weixin_48464886/article/details/118970304
https://github.com/UZ-SLAMLab/ORB_SLAM3
https://www.cnblogs.com/dinghongkai/p/11308805.html
https://blog.csdn.net/ByYastal/article/details/111589721?utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1.no_search_link&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1.no_search_link