更改及运行说明
原地址此项目原地址，项目为基于ORB-SLAM生成三维密集点云，并使用OctoMap构建室内导航地图。对其进行实现，改项目是基于ORBSLAM2,添加点云地图，同时还提供了一写转换工具，例如二进制字典和八叉树映射模块。
- 运行只能运行fr3_office.sh 其他数据集还没下载。
- 里面的测评工具挺好用的！！
- 如需运行，需要放置在home/fb/目录下面。
all in all
- 添加点云图模块。
- 添加二进制字典转换工具。
- 添加八叉树地图转换工具。
以下为原库说明
IndoorMapping
This indoor mapping system is based on ORB-SLAM2. Add point cloud map module, you can visualize your point cloud map during the SLAM process. We also provide some conversion tools, such as binary dictionary and octree map (IndoorMapping/tools/*).
Prerequisites
Install some necessary dependencies for system operation, we have tested in Ubuntu 16.04.
CMake
CMake is an open-source, cross-platform family of tools designed to build, test and package software.
sudo apt-get install cmake
Glew
The OpenGL Extension Wrangler Library (GLEW) is a cross-platform open-source C/C++ extension loading library.
sudo apt-get install libglew-dev
Pangolin
We use Pangolin for visualization and user interface.
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build && cd build
cmake ..
cmake --build .
OpenCV
We use OpenCV to manipulate images and features.
sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev libjpeg-dev libtiff5-dev libjasper-dev libopenexr-dev libtbb-dev python-numpy python-matplotlib
cd opencv-3.2.0
mkdir build && cd build
cmake ..
make
sudo make install
Eigen3
Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
sudo apt-get install libeigen3-dev
g2o
We use modified version of g2o library to perform non-linear optimizations.
cd Thirdparty/g2o
mkdir build && cd build
cmake ..
make
DBoW2
We use modified version of DBoW2 library to perform place recognition.
cd Thirdparty/DBoW2
mkdir build && cd build
cmake ..
make
Boost
Boost provides free peer-reviewed portable C++ source libraries.
sudo apt-get install libboost-all-dev
FLANN
FLANN is a library for performing fast approximate nearest neighbor searches in high dimensional spaces.
sudo apt-get install libflann1.8 libflann-dev
Qt
Qt is the faster, smarter way to create innovative devices, modern UIs & applications for multiple screens.
chmod +x qt-opensource-linux-x64-5.8.0.run
./qt-opensource-linux-x64-5.8.0.run
VTK
The Visualization Toolkit (VTK) is an open-source, freely available software system for 3D computer graphics, image processing, and visualization.
cd VTK-8.1.1
mkdir build && cd build
cmake -DVTK_QT_VERSION:STRING=5 -DQT_QMAKE_EXECUTABLE:PATH=[PATH]/Qt5.8.0/5.8/gcc_64/bin/qmake -DVTK_Group_Qt:BOOL=ON -DCMAKE_PREFIX_PATH:PATH=[PATH]/Qt5.8.0/5.8/gcc_64/lib/cmake -DBUILD_SHARED_LIBS:BOOL=ON ..
make
PCL
The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.
cd pcl-pcl-1.8.1
mkdir build && cd build
cmake ..
make
sudo make install
OctoMap
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++ particularly suited for robotics.
sudo apt-get install libqglviewer-dev-qt4
git clone https://github.com/OctoMap/octomap
cd octomap
mkdir build && cd build
cmake ..
make
sudo make install
Dataset
Computer Vision Group - Dataset Download
How to install
git clone https://github.com/ichigoi7e/IndoorMapping.git
cd IndoorMapping
mkdir build && cd build
cmake ..
make
Run examples
There are some useful manual commands, and we also provide some scripts to automate (IndoorMapping/*.sh).
Run test
./bin/rgbd_tum Vocabulary/ORBvoc.bin test/TUM1.yaml Dataset/rgbd_dataset_freiburg1_room test/associations/fr1_room.txt
After this command, you can see the dense point cloud displayed in the viewer, like this:
Convert *.pcd to *.ot
./tools/pcd2octomap map.pcd map.ot
Plot ATE image
./tools/evaluate_ate.py Dataset/rgbd_dataset_freiburg1_room/groundtruth.txt CameraTrajectory.txt --plot result.png
This command will plot the first and the aligned second trajectory to an image, like this:
Print all evaluation data
./tools/evaluate_ate.py Dataset/rgbd_dataset_freiburg1_room/groundtruth.txt CameraTrajectory.txt --verbose
What are modified
- Add point cloud map module.
- Add binary dictionary conversion tool.
- Add octree map conversion tool.