Home » ROS与VSLAM入门教程 » ROS与VSLAM入门教程-ubuntu16.04安装ORB-SLAM3

ROS与VSLAM入门教程-ubuntu16.04安装ORB-SLAM3

ROS与VSLAM入门教程-ubuntu16.04安装ORB-SLAM3

说明:

  • 介绍如何在ubuntu16.04系统下安装ORB-SLAM3

环境:

  • Ubuntu16.04 + ROS kinetic
  • Kinect V1.

准备:

  • 安装Boost
sudo apt-get install libboost-all-dev
  • 安装Pangolin:
git clone https://github.com/stevenlovegrove/Pangolin.git 
cd Pangolin 
mkdir build 
cd build 
cmake .. 
make -j 
  • ROS安装后,带有opencv 3.2
  • 一般都已经安装Eigen3,未安装参考
sudo apt-get install libeigen3-dev
cd /usr/include/eigen3   
#ls查看,含有3个文件: Eigen  signature_of_eigen3_matrix_library  unsupported

    
  • DBoW2和g2o (included in Thirdparty) 在ORB-SLAM2的Thirdparty文件夹里面,无需安装。

安装ORB_SLAM3 :

  • 下载编译ORB_SLAM3 :
cd ~
git clone https://github.com/UZ-SLAMLab/ORB_SLAM3 ORB_SLAM3 
cd ORB_SLAM3 
chmod +x build.sh
./build.sh

安装ROS

  • 添加路径到 .bashrc
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples/ROS
  • 执行编译
chmod +x build_ros.sh
./build_ros.sh

数据集测试:

  • 运行 Monocular Node

  • 下载一个ASL格式的序列Machine Hall 01,下载地址

  • 之后双击打开ORB-SLAM3源码中的脚本“euroc_examples.sh“,找到包含MH01的指令

  • 修改为

    ./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "Datasets/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

  • 运行 Stereo Node
./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml ./Datasets/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt

参考:

  • https://github.com/UZ-SLAMLab/ORB_SLAM3
  • https://blog.csdn.net/weixin_42203839/article/details/107728106

纠错,疑问,交流: 请进入讨论区点击加入Q群

获取最新文章: 扫一扫右上角的二维码加入“创客智造”公众号


标签: ros与vslam入门教程