1.ORB-SLAM2在KITTI和TUM数据集的运行命令
单目
①KITTI
./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /home/hope/Downloads/dataset/sequences/00
②TUM
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/hope/Downloads/TUM/rgbd_dataset_freiburg1_xyz
③EuRoc
./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml /home/hope/Downloads/EuRoc/ Examples/Monocular/EuRoC_TimeStamps/MH01.txt
双目
①KITTI
./Examples/Stereo/stereo_kitti Vocabulary/ORBvoc.txt Examples/Stereo/KITTI00-02.yaml /home/hope/Downloads/dataset/sequences/00
②EuRoc
./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml /home/hope/Downloads/EuRoc/ Examples/Monocular/EuRoC_TimeStamps/MH01.txt
RGB-D
①TUM
需要对数据集中的rgb图和depth图做匹配,官方提供了脚本程序
匹配命令:
python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associate.txt
运行命令:
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /home/hope/Downloads/TUM/rgbd_dataset_freiburg1_xyz /home/hope/Downloads/TUM/rgbd_dataset_freiburg1_xyz/associate.txt
参考:
GitHub - raulmur/ORB_SLAM2: Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilitieshttps://github.com/raulmur/ORB_SLAM2
ORB SLAM 2 demo 复现(普通模式 + ROS 模式) - 简书 (jianshu.com)https://www.jianshu.com/p/31c95d9a5f97
2.在ROS环境下运行ORB-SLAM2
要用 ROS 模式跑 demo,还要额外编译 ROS 文件。
首先是将 ROS 文件所在路径加入到 ROS_PACKAGE_PATH
环境变量中。
具体操作是
打开终端脚本~/.bashrc文件:
sudo gedit ~/.bashrc
在文件末尾加入以下语句:
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/ORB_SLAM2/Examples/ROS
可以新开一个命令行窗口或者在当前窗口中运行 source
~/.bashrc
,检查一下 ROS_PACKAGE_PATH
环境变量是否更新:
echo $ROS_PACKAGE_PATH
source 更新变量之后开始编译:
chmod +x build_ros.sh
./build_ros.sh
在 ROS 模式下,需要从 rosbag 里面发布数据,因此要下载相应的 rosbag 数据包。
单目:
TUM
roscore
rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml
rosbag play /home/hope/Downloads/TUM/rgbd_dataset_freiburg1_xyz.bag /camera/rgb/image_color:=/camera/image_raw
双目:
EuRoc
roscore
rosrun ORB_SLAM3 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml false
rosbag play /home/hope/Downloads/EuRoc/MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw
KITTI
roscore
rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml
rosbag play /home/hope/Downloads/dataset/kitti_00_l.bag
RGB-D:
TUM
roscore
rosrun ORB_SLAM3 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml
rosbag play /home/hope/Downloads/TUM/rgbd_dataset_freiburg1_xyz.bag /camera/rgb/image_color:=/camera/rgb/image_raw /camera/depth/image:=/camera/depth_registered/image_raw