orbslam2_cg
modified version from raulmur/ORB_SLAM2 (commit f2e6f51 on Oct 11, 2017)
ORB-SLAM is a versatile and accurate SLAM solution for Monocular, Stereo and RGB-D cameras.
[TOC]
Dependencies
-
OpenCV 3
-
Eigen3
sudo apt install libeigen3-dev
-
Pangolin
git clone https://github.com/stevenlovegrove/Pangolin.git cd Pangolin & mkdir build & cd build cmake .. & cmake --build .
-
G2O
# git clone https://github.com/RainerKuemmerle/g2o cd Thirdparty svn checkout https://github.com/raulmur/ORB_SLAM2/trunk/Thirdparty/g2o cd g2o mkdir build cd build cmake .. -DCMAKE_BUILD_TYPE=Release make -j4
-
DBoW2
git clone https://github.com/cggos/DBoW2
-
ROS (optional)
-
Vocabulary ORBvoc.txt
cd orbslam2/Vocabulary wget https://raw.githubusercontent.com/raulmur/ORB_SLAM2/master/Vocabulary/ORBvoc.txt.tar.gz tar -xf ORBvoc.txt.tar.gz
Build
-
with ROS
cd orbslam2_cg/platforms/ros_wrapper catkin_make -j1
-
without ROS
cd orbslam2_cg/platforms/app mkdir build & cd build cmake .. & make -j1
Calibration Params
- Stereo Config: ROS Stereo Calibration and get data from the result
rosrun camera_calibration cameracalibrator.py \ --approximate=0.05 \ --size 11x7 \ --square 0.036 \ left:=/mynteye/left/image_raw \ right:=/mynteye/right/image_raw