https://github.com/cggos/orb_slam2_cg
Modified version from raulmur/ORB_SLAM2 (commit f2e6f51 on Oct 11, 2017)
https://github.com/cggos/orb_slam2_cg
orb-slam2 visual-slam
Last synced: 8 months ago
JSON representation
Modified version from raulmur/ORB_SLAM2 (commit f2e6f51 on Oct 11, 2017)
- Host: GitHub
- URL: https://github.com/cggos/orb_slam2_cg
- Owner: cggos
- Created: 2018-08-12T03:03:24.000Z (almost 8 years ago)
- Default Branch: ubuntu1804
- Last Pushed: 2022-09-29T09:08:12.000Z (over 3 years ago)
- Last Synced: 2025-02-01T17:35:10.590Z (over 1 year ago)
- Topics: orb-slam2, visual-slam
- Language: C++
- Homepage:
- Size: 4.63 MB
- Stars: 2
- Watchers: 3
- Forks: 4
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# orbslam2_cg
modified version from [raulmur/ORB_SLAM2](https://github.com/raulmur/ORB_SLAM2) (commit f2e6f51 on Oct 11, 2017)
[ORB-SLAM](http://webdiis.unizar.es/~raulmur/orbslam/) is a versatile and accurate SLAM solution for Monocular, Stereo and RGB-D cameras.
* [ethz-asl/orb_slam_2_ros](https://github.com/ethz-asl/orb_slam_2_ros)
* [ORB-Slam2: Implementation on my Ubuntu 16.04 with ROS Kinect](https://medium.com/@j.zijlmans/orb-slam-2052515bd84c)
-----
[TOC]
# Dependencies
* OpenCV 3
* Eigen3
```sh
sudo apt install libeigen3-dev
```
* Pangolin
```bash
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin & mkdir build & cd build
cmake .. & cmake --build .
```
* G2O
```sh
# 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
```sh
git clone https://github.com/cggos/DBoW2
```
* ROS (optional)
* Vocabulary ORBvoc.txt
```sh
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
```sh
cd orbslam2_cg/platforms/ros_wrapper
catkin_make -j1
```
* without ROS
```sh
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
```sh
rosrun camera_calibration cameracalibrator.py \
--approximate=0.05 \
--size 11x7 \
--square 0.036 \
left:=/mynteye/left/image_raw \
right:=/mynteye/right/image_raw
```
# Train DBoW2/DBoW3 Voc with your data
* https://github.com/cggos/slamkit/tree/master/visual_vocabulary/dbow_demos
# Run
* without ROS
```bash
cd orbslam2_cg/platforms/app/build
../scripts/run_.sh # modify it before run
```
* with ROS
```sh
roslaunch orbslam2_ros run_.launch
roslaunch orbslam2_ros run_stereo_euroc.launch [rviz:=true]
roslaunch orbslam2_ros run_stereo_mynteye_s1030.launch
```
