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SRSLAM: SCUT RobotLab Simultaneous Localization And Mapping

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Author license standard-readme compliant

内容列表

背景

  • 本库是基于LK光流前端与GTSAM后端的SLAM系统，纯个人瞎写，用于SLAM学习。
  • 本库基于ROS，前后端分离且实现了基本的数据类型与传感器类型，可拓展性强，后续可以加入基于不同算法的前端或后端，用于SLAM学习。
  • 目前只实现了前端部分，还差后端与可视化。
  • 目前只支持双目相机作为传感器。

安装

环境:

  • Ubuntu 18.04
  • ROS Melodic
  • OpenCV 4.5.1

依赖:

sudo apt-get install libeigen3-dev
git clone https://github.com/borglab/gtsam.git
cd gtsam
mkdir build && cd build
cmake ..
make check
sudo make install
  • A modern compiler, i.e., at least gcc 4.7.3 on Linux.

用法

mkdir srslam_ws && cd srslam_ws && mkdir src
git clone https://github.com/cypypccpy/SRSLAM.git
cd ..
catkin_make
echo "source ~/srslam_ws/devel/setup.bash" >> ~/.bashrc

启动

先下载http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.bag

rosbag play --pause MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw

在终端按下空格启动后

rosrun srslam srslam_node

TODO



如何贡献

See the contributing file!

使用许可

MIT © Richard McRichface.

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