稠密建图voxgraph安装测试

1. 官方公布效果

Voxgraph- Globally Consistent, Volumetric Mapping Using Signed Distance Function

2. 前言

论文链接: Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps
源码链接: https://github.com/ethz-asl/voxgraph

当前的建图方法要么是低硬件要求的稀疏特征地图构建方法，要么就是高硬件要求(配备gpu或大内存条)稠密地图构建方法，对于MAV这种平台的硬件配置都较低，因此基于当前的已有方法只能构建较为稀疏的地图．但稀疏地图不利于MAV在三维环境中进行导航，于是提出了voxgraph建图方法的，该方法能够在只配备了cpu而无gpu的平台上构建稠密的mesh地图．

3. 安装

3.1 安装voxblox

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin config --extend /opt/ros/kinetic
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin config --merge-devel

cd ~/catkin_ws/src/
git clone https://github.com/ethz-asl/voxblox.git
wstool init . ./voxblox/voxblox_https.rosinstall
wstool update

cd ~/catkin_ws/src/
catkin build voxblox_ros

3.2 安装voxgraph

cd ~/catkin_ws/src/
git clone https://github.com/ethz-asl/voxgraph.git

wstool merge ./voxgraph/voxgraph_https.rosinstall
wstool update

cd ~/catkin_ws/src/
catkin build voxgraph

该过程可能出现如下问题:

该问题主要是没法下载链接: https://github.com/ethz-asl/thirdparty_library_binaries/raw/master/SuiteSparse-4.2.1.tar.gz 的文件，解决方法是:
(1) 直接网页点击链接将文件下载到本地目录(例如download文件夹)
(2) 修改~/catkin_ws/src/suitesparse/suitesparse/内的cmakelist

将
wget --retry-connrefused --waitretry=1 --timeout=40 --tries 3 https://github.com/ethz-asl/thirdparty_library_binaries/raw/master/SuiteSparse-${VERSION}.tar.gz
改为
cp download/SuiteSparse-4.2.1.tar.gz ./

然后再重新执行:

catkin build voxgraph

3.3 安装lidar_undistortion

cd ~/catkin_ws/src/
wstool merge ./voxgraph/arche_ssh.rosinstall
wstool update
catkin build lidar_undistortion

编译过程中可能会出现如下问题:

主要问题是我们不是没有ssh key，因此需要通过http下载，解决此问题的方法是修改 ~/catkin_ws/src/.rosinstall文件为:

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2021-01-28
- git:
    local-name: catkin_simple
    uri: https://github.com/catkin/catkin_simple.git
- git:
    local-name: cblox
    uri: https://github.com/ethz-asl/cblox.git
- git:
    local-name: ceres_catkin
    uri: https://github.com/ethz-asl/ceres_catkin.git
- git:
    local-name: eigen_catkin
    uri: https://github.com/ethz-asl/eigen_catkin.git
- git:
    local-name: eigen_checks
    uri: https://github.com/ethz-asl/eigen_checks.git
- git:
    local-name: gflags_catkin
    uri: https://github.com/ethz-asl/gflags_catkin.git
- git:
    local-name: glog_catkin
    uri: https://github.com/ethz-asl/glog_catkin.git
- git:
    local-name: lidar_undistortion
    uri: https://github.com/ethz-asl/lidar_undistortion.git
- git:
    local-name: minkindr
    uri: https://github.com/ethz-asl/minkindr.git
- git:
    local-name: minkindr_ros
    uri: https://github.com/ethz-asl/minkindr_ros.git
- git:
    local-name: ouster_lidar
    uri: https://github.com/ethz-asl/ouster_lidar.git
- git:
    local-name: protobuf_catkin
    uri: https://github.com/ethz-asl/protobuf_catkin.git
- git:
    local-name: suitesparse
    uri: https://github.com/ethz-asl/suitesparse.git
- git:
    local-name: voxblox
    uri: https://github.com/ethz-asl/voxblox.git

然后再执行

wstool update
catkin build lidar_undistortion

3.4 测试

下载数据集

wget -P ~/Downloads http://robotics.ethz.ch/~asl-datasets/2020_voxgraph_arche/arche_flight1_2ms_indoor-outdoor-figure-8.zip
unzip ~/Downloads/arche_flight1_2ms_indoor-outdoor-figure-8.zip

运行

cd ~/catkin_ws/
source devel/setup.bash
roslaunch voxgraph arche_demo.launch rosbag_path:=${HOME}/Downloads/arche_flight1_2ms_indoor-outdoor-figure-8.bag

结果