ORB SLAM在Ubuntu14.04下环境配置
在ubuntu14.04下安装Opencv2.4.9
安装 OpenCV
步骤一：创建目录
mkdir opencv
cd /opencv/
步骤二：卸载任何以前安装的ffmpeg和x264软件
sudo apt-get -qq remove ffmpeg x264 libx264-dev
步骤三：安装一些依赖关系
sudo apt-get -qq install libopencv-dev build-essential checkinstall cmake pkg-config yasm libjpeg-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev python-dev python-numpy libtbb-dev libqt4-dev libgtk2.0-dev libfaac-dev libmp3lame-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev x264 v4l-utils
-安装ffmpeg
sudo add-apt-repository ppa:mc3man/trusty-media
sudo apt-get update
sudo apt-get install ffmpeg gstreamer0.10-ffmpeg
Step 4: Download and extract OpenCV
步骤四：下载和解压提取OpenCV
1. 先从sourceforge上下载OpenCV的源码
wget -O opencv-2.4.9.zip http://jaist.dl.sourceforge.net/project/opencvlibrary/opencv-unix/2.4.9/opencv-2.4.9.zip
2. 解压到任意目录
unzip opencv-2.4.9.zip
3. 进入源码目录，创建release目录
cd opencv-2.4.9
mkdir release
sudo apt-get install build-essential cmake libgtk2.0-dev pkg-config python-dev python-numpy libavcodec-dev libavformat-dev libswscale-dev
5. 进入release目录，安装OpenCV是所有的文件都会被放到这个release目录下
cd release
6. cmake编译OpenCV源码，安装所有的lib文件都会被安装到/usr/local目录下
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..
7. 安装
sudo make install
ORB SLAM之Pangolin安装（Ubuntu14.04）
安装Pangolin
1.pangolin是什么？
Pangolin是一个用于OpenGL显示/交互以及视频输入的一个轻量级、快速开发库，下面是Pangolin的Github网址：https://github.com/stevenlovegrove/Pangolin
2.我们为什么要用Pangolin？在哪里可以用到Pangolin？
ORB_SLAM2中需要有Pangolin的支持。
3.安装过程？
按照Github上面的教程走即可，非常简单（https://github.com/stevenlovegrove/Pangolin）。
(1)安装一些必要的库：
Glew：
sudo apt-get install libglew-devCMake：
sudo apt-get install cmake
Boost：
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
Python2 / Python3：
sudo apt-get install libpython2.7-dev
(2)在安装完上述依赖后，就可以开始安装Pangolin了，安装过程十分简单：
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j
(3)这时，你可能会遇到如下问题：
看得很头大是吧？没关系，只要看到错误信息中关键的内容就好了。
提示的错误大部分是跟openni.h和XnCppWrapper.h有关的。
而我们这里编译Pangolin时，并不需要用到OpenNI，可以在编译时将其屏蔽：
cd Pangolin/src
vim CMakeLists.txt (这里选择你自己喜欢的编辑器)
看到这里的OpenNI和OpenNI2的部分了吧，将其全部注释掉即可。
make -j
运行！！！
1. 使用usb_cam作为单目相机驱动
从https://github.com/bosch-ros-pkg/usb_cam下载usb_cam，放到工作空间catkin_ws/src下，catkin_make编译
cd /home/lzp/catkin_mono_orb/src/usb_cam
cd launch
gedit usb_cam-test.launch
对两句进行了修改
怎样把普通摄像头图像发布到ROS 的TOPIC
2. 中间过程与RGBD过程相同
3. 实现（分别开3个终端，主要运行此处就可以）
第一个终端
cd /home/moon/ORB_SLAM2
roscore
第二个终端 打开摄像头
cd /home/moon/catkin_ws
source devel/setup.bash
roslaunch usb_cam usb_cam-test.launch
第三个终端 运行程序
cd /home/moon/catkin_ws
source /etc/profile
rosrun ORB_SLAM2 Mono /home/moon/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/moon/ORB_SLAM2/Examples/Monocular/TUM1.yaml
# 显示建图画面(ros indigo)
rosrun rviz rviz
～～～～～～～～～～～～～～～～～～以下为详细介绍～～～～～～～～～～～～～～～～～～～
二/打开摄像头
moon@moon-Precision-T1650:~/catkin_ws$ source devel/setup.bash
moon@moon-Precision-T1650:~/catkin_ws$ roslaunch usb_cam usb_cam-test.launch
三 运行最后程序
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make
Base path: /home/moon/catkin_ws
Source space: /home/moon/catkin_ws/src
Build space: /home/moon/catkin_ws/build
Devel space: /home/moon/catkin_ws/devel
Install space: /home/moon/catkin_ws/install
Multiple packages found with the same name "usb_cam":
- ORB_SLAM2/src/usb_cam-develop
- usb_cam-develop
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make
Base path: /home/moon/catkin_ws
Source space: /home/moon/catkin_ws/src
Build space: /home/moon/catkin_ws/build
Devel space: /home/moon/catkin_ws/devel
Install space: /home/moon/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/moon/catkin_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/moon/catkin_ws/build"
####
[ 50%] Built target usb_cam
[100%] Built target usb_cam_node
moon@moon-Precision-T1650:~/catkin_ws$ cd /etc/
moon@moon-Precision-T1650:/etc$ sudo gedit profile
[sudo] password for moon:
(gedit:13158): Gtk-WARNING **: Calling Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.ServiceUnknown: The name org.gnome.SessionManager was not provided by any .service files
(gedit:13158): Gtk-WARNING **: Calling Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.ServiceUnknown: The name org.gnome.SessionManager was not provided by any .service files
moon@moon-Precision-T1650:/etc$ source /etc/profile
moon@moon-Precision-T1650:/etc$ rosrun ORB_SLAM2
Usage: rosrun [--prefix cmd] [--debug] PACKAGE EXECUTABLE [ARGS]
rosrun will locate PACKAGE and try to find
an executable named EXECUTABLE in the PACKAGE tree.
If it finds it, it will run it with ARGS.
moon@moon-Precision-T1650:/etc$ rosrun ORB_SLAM2 ORB_SLAM2
[rosrun] Couldn't find executable named ORB_SLAM2 below /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2
moon@moon-Precision-T1650:/etc$ cd /home/moon/
moon@moon-Precision-T1650:~$ ls
build CMakeLists.txt ORB_SLAM2 公共的 视频 文档 音乐
catkin_ws opencv Pangolin 模板 图片 下载 桌面
moon@moon-Precision-T1650:~$ cd catkin_ws/
moon@moon-Precision-T1650:~/catkin_ws$ ls
build devel src
moon@moon-Precision-T1650:~/catkin_ws$ ca
cal catkin_find
calendar catkin_find_pkg
calibrate_ppa catkin_generate_changelog
caller catkin_init_workspace
canberra-gtk-play catkin_make
cancel catkin_make_isolated
canonical-certification-server catkin_package_version
canonical-driver-test-suite-cli catkin_prepare_release
capsh catkin_tag_changelog
captoinfo catkin_test_changelog
case catkin_test_results
cat catkin_topological_order
catchsegv catman
catkin_create_pkg cautious-launcher
moon@moon-Precision-T1650:~/catkin_ws$ ca
cal catkin_find
calendar catkin_find_pkg
calibrate_ppa catkin_generate_changelog
caller catkin_init_workspace
canberra-gtk-play catkin_make
cancel catkin_make_isolated
canonical-certification-server catkin_package_version
canonical-driver-test-suite-cli catkin_prepare_release
capsh catkin_tag_changelog
captoinfo catkin_test_changelog
case catkin_test_results
cat catkin_topological_order
catchsegv catman
catkin_create_pkg cautious-launcher
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make
Base path: /home/moon/catkin_ws
Source space: /home/moon/catkin_ws/src
Build space: /home/moon/catkin_ws/build
Devel space: /home/moon/catkin_ws/devel
Install space: /home/moon/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/moon/catkin_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/moon/catkin_ws/build"
####
[ 50%] Built target usb_cam
[100%] Built target usb_cam_node
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make
Base path: /home/moon/catkin_ws
Source space: /home/moon/catkin_ws/src
Build space: /home/moon/catkin_ws/build
Devel space: /home/moon/catkin_ws/devel
Install space: /home/moon/catkin_ws/install
Invalid package manifest "/home/moon/catkin_ws/src/ORB_SLAM2/package.xml": The manifest must contain exactly one "version" tags
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make
Base path: /home/moon/catkin_ws
Source space: /home/moon/catkin_ws/src
Build space: /home/moon/catkin_ws/build
Devel space: /home/moon/catkin_ws/devel
Install space: /home/moon/catkin_ws/install
WARNING: Package name "ORB_SLAM2" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
Invalid package manifest "/home/moon/catkin_ws/src/ORB_SLAM2/package.xml": Package version "2.0" does not follow version conventions
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make
Base path: /home/moon/catkin_ws
Source space: /home/moon/catkin_ws/src
Build space: /home/moon/catkin_ws/build
Devel space: /home/moon/catkin_ws/devel
Install space: /home/moon/catkin_ws/install
####
#### Running command: "cmake /home/moon/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/moon/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/moon/catkin_ws/install -G Unix Makefiles" in "/home/moon/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/moon/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/moon/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.18
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 2 packages in topological order:
-- ~~ - orb_slam
-- ~~ - usb_cam
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'orb_slam'
-- ==> add_subdirectory(ORB_SLAM2)
[rosbuild] Building package src
[rosbuild] Error from syntax check of src/manifest.xml
Traceback (most recent call last):
File "
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifest.py", line 139, in parse_file
return roslib.manifestlib.parse_file(Manifest(), file)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifestlib.py", line 497, in parse_file
raise ValueError("Invalid/non-existent manifest file: %s"%file)
ValueError: Invalid/non-existent manifest file: manifest.xml
CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/private.cmake:78 (message):
[rosbuild] Syntax check of src/manifest.xml failed; aborting
Call Stack (most recent call first):
/opt/ros/indigo/share/ros/core/rosbuild/public.cmake:174 (_rosbuild_check_manifest)
ORB_SLAM2/CMakeLists.txt:4 (rosbuild_init)
-- Configuring incomplete, errors occurred!
See also "/home/moon/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/moon/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
moon@moon-Precision-T1650:~/catkin_ws$ ls
build devel src
moon@moon-Precision-T1650:~/catkin_ws$ cd src/
moon@moon-Precision-T1650:~/catkin_ws/src$ ls
CMakeLists.txt ORB_SLAM2 usb_cam-develop
moon@moon-Precision-T1650:~/catkin_ws/src$ cd ORB_SLAM2/
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls
CMakeLists.txt manifest.xml~ package.xml package.xml~ src
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ rm manifest.xml~
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ cd src/
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/src$ ls
ros_mono.cc ros_rgbd.cc ros_stereo.cc
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/src$ ls
ros_mono.cc ros_rgbd.cc ros_stereo.cc
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/src$ cd ..
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls
CMakeLists.txt package.xml package.xml~ src
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls
CMakeLists.txt package.xml package.xml~ src
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ mkdir build
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls
build CMakeLists.txt package.xml package.xml~ src
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ cd build/
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ cmake .. -DROS_BUILD_TYPE=Release
-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found PythonInterp: /usr/bin/python (found version "2.7.6")
[rosbuild] Building package ORB_SLAM2
[rosbuild] Error from syntax check of ORB_SLAM2/manifest.xml
Traceback (most recent call last):
File "
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifest.py", line 139, in parse_file
return roslib.manifestlib.parse_file(Manifest(), file)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifestlib.py", line 497, in parse_file
raise ValueError("Invalid/non-existent manifest file: %s"%file)
ValueError: Invalid/non-existent manifest file: manifest.xml
CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/private.cmake:78 (message):
[rosbuild] Syntax check of ORB_SLAM2/manifest.xml failed; aborting
Call Stack (most recent call first):
/opt/ros/indigo/share/ros/core/rosbuild/public.cmake:174 (_rosbuild_check_manifest)
CMakeLists.txt:4 (rosbuild_init)
-- Configuring incomplete, errors occurred!
See also "/home/moon/catkin_ws/src/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log".
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ ^C
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ cmake .. -DROS_BUILD_TYPE=Release
[rosbuild] Building package ORB_SLAM2
[rosbuild] Error from directory check: /opt/ros/indigo/share/ros/core/rosbuild/bin/check_same_directories.py /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2 /home/moon/catkin_ws/src/ORB_SLAM2
1
Traceback (most recent call last):
File "/opt/ros/indigo/share/ros/core/rosbuild/bin/check_same_directories.py", line 48, in
raise Exception
Exception
CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/private.cmake:102 (message):
[rosbuild] rospack found package "ORB_SLAM2" at
"/home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2", but the current directory is
"/home/moon/catkin_ws/src/ORB_SLAM2". You should double-check your
ROS_PACKAGE_PATH to ensure that packages are found in the correct
precedence order.
Call Stack (most recent call first):
/opt/ros/indigo/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
CMakeLists.txt:4 (rosbuild_init)
-- Configuring incomplete, errors occurred!
See also "/home/moon/catkin_ws/src/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log".
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ cd ..
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ cd ..
moon@moon-Precision-T1650:~/catkin_ws/src$ cd ..
moon@moon-Precision-T1650:~/catkin_ws$ ls
build devel src
moon@moon-Precision-T1650:~/catkin_ws$ cd ..
moon@moon-Precision-T1650:~$ ls
build catkin_ws CMakeLists.txt opencv ORB_SLAM2 Pangolin 公共的 模板 视频 图片 文档 下载 音乐 桌面
moon@moon-Precision-T1650:~$ cd ORB_SLAM2/
moon@moon-Precision-T1650:~/ORB_SLAM2$ ls
build CMakeLists.txt Dependencies.md include License-gpl.txt README.md Thirdparty
build.sh cmake_modules Examples lib LICENSE.txt src Vocabulary
moon@moon-Precision-T1650:~/ORB_SLAM2$ cd Examples/
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples$ ls
Monocular RGB-D ROS Stereo
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples$ cd ROS/
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS$ ls
ORB_SLAM2
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS$ cd ORB_SLAM2/
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ ls
CMakeLists.txt manifest.xml src
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ cd src/
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src$ cd ..
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ ls
CMakeLists.txt manifest.xml src
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ mkdir build
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ cd build/
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ cmake .. -DROS_BUILD_TYPE=Release
-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found PythonInterp: /usr/bin/python (found version "2.7.6")
[rosbuild] Building package ORB_SLAM2
[rosbuild] Cached build flags older than manifests; calling rospack to get flags
-- Using CATKIN_DEVEL_PREFIX: /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Skip enable_testing() for dry packages
-- Using CATKIN_TEST_RESULTS_DIR: /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/test_results
-- Looking for include file pthread.h
-- Looking for include file pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.18
[rosbuild] using multiarch 'i386-linux-gnu' for finding Boost
-- Using these message generators: gencpp;genlisp;genpy
[rosbuild] Including /opt/ros/indigo/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/indigo/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/indigo/share/rospy/rosbuild/rospy.cmake
Build type: Release
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Using flag -std=c++11.
-- Found Eigen3: /usr/include/eigen3 (Required is at least version "3.1.0")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ make -j
Scanning dependencies of target rospack_genmsg_libexe
[ 0%] Built target rospack_genmsg_libexe
Scanning dependencies of target rosbuild_precompile
[ 0%] Built target rosbuild_precompile
Scanning dependencies of target Stereo
Scanning dependencies of target RGBD
Scanning dependencies of target Mono
[ 33%] Building CXX object CMakeFiles/Mono.dir/src/ros_mono.cc.o
[ 66%] [100%] Building CXX object CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o
Building CXX object CMakeFiles/Stereo.dir/src/ros_stereo.cc.o
Linking CXX executable ../Mono
[100%] Built target Mono
Linking CXX executable ../RGBD
[100%] Built target RGBD
Linking CXX executable ../Stereo
[100%] Built target Stereo
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ ls
catkin catkin_generated CATKIN_IGNORE CMakeCache.txt CMakeFiles cmake_install.cmake devel gtest Makefile test_results
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ cd test_results/
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/test_results$ ls
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/test_results$ cd ..
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ ls
catkin catkin_generated CATKIN_IGNORE CMakeCache.txt CMakeFiles cmake_install.cmake devel gtest Makefile test_results
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ cd ..
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ ls
build CMakeLists.txt lib manifest.xml Mono RGBD src Stereo
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ rosrun ORB_SLAM2
Mono RGBD Stereo
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ rosrun ORB_SLAM2 Mono
Usage: rosrun ORB_SLAM2 Mono path_to_vocabulary path_to_settings
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ rosrun ORB_SLAM2 Mono /home/moon/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/moon/ORB_SLAM2/Examples/Monocular/TUM1.yaml
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.
Input sensor was set to: Monocular
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!
Camera Parameters:
- fx: 517.306
- fy: 516.469
- cx: 318.643
- cy: 255.314
- k1: 0.262383
- k2: -0.953104
- k3: 1.16331
- p1: -0.005358
- p2: 0.002628
- fps: 30
- color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
New Map created with 129 points
Local Mapping STOP
Local Mapping RELEASE
Local Mapping STOP
Local Mapping RELEASE
Local Mapping STOP
:qw
w
cd ..
cd[ WARN] [1479909888.941469911]: Shutdown request received.
[ WARN] [1479909888.941526443]: Reason given for shutdown: [new node registered with same name]
Saving keyframe trajectory to KeyFrameTrajectory.txt ...
trajectory saved!