ORB_SLAM2-D435

1. Pangolin install

• install grew

  sudo apt-get install libglew-dev
  

• Pangolin download

  git clone https://github.com/stevenlovegrove/Pangolin.git
  cd Pangolin
  mkdir build
  cd build
  cmake ..
  sudo make install
  

2. Opencv(3.2.0) install

• prev package update

  sudo apt-get update
  sudo apt-get upgrede
  

• package install

  sudo apt-get install build-essential cmake pkg-config libjpeg-dev libtiff5-dev libjasper-dev libpng12-dev libavcodec-dev libavformat-dev libswscale-dev libxvidcore-dev libx264-dev libxine2-dev libv4l-dev v4l-utils libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libqt4-dev mesa-utils libgl1-mesa-dri libqt4-opengl-dev libatlas-base-dev gfortran libeigen3-dev python2.7-dev python3-dev python-numpy python3-numpy
  

• opencv install

  mkdir opencv
  cd opencv
  wget -O opencv.zip https://github.com/Itseez/opencv/archive/3.2.0.zip
  unzip opencv.zip
  wget -O opencv_contrib.zip https://github.com/Itseez/opencv_contrib/archive/3.2.0.zip
  unzip opencv_contrib.zip
  

• opencv build (만약 에러나면 아래 참고)

  cd opencv-3.2.0/
  mkdir build
  cd build
  cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=OFF -D WITH_IPP=OFF -D WITH_1394=OFF -D BUILD_WITH_DEBUG_INFO=OFF -D BUILD_DOCS=OFF -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D ENABLE_NEON=ON -D WITH_QT=ON -D WITH_OPENGL=ON -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-3.2.0/modules -D WITH_V4L=ON -D WITH_FFMPEG=ON -D WITH_XINE=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D PYTHON_INCLUDE_DIR=/usr/include/python2.7 -D PYTHON_INCLUDE_DIR2=/usr/include/x86_64-linux-gnu/python2.7 -D PYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython2.7.so ../
  make -j
  sudo make install
  

• check install

  pkg-config --modversion opencv
  pkg-config --libs --cflags opencv
  

• build error due to [CUDA 9.0]

  https://stackoverflow.com/questions/46584000/cmake-error-variables-are-set-to-notfound

3. eigen 3.1.0

• Download 3.1.0 version

  https://bitbucket.org/eigen/eigen/downloads/?tab=tags

4. ORB-SLAM install

  git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
  cd ORB_SLAM2
  chmod +x build.sh
  ./build.sh

• [usleep(3000);] error ./build.sh

  Find file and add the following codes.

  (LocalMapping.cc / LoopClosing.cc / Tracking.cc / System.cc / Viewer.cc System.cc / mono_euroc.cc / mono_kitti.cc / mono_tum.cc / rgbd_tum.cc stereo_kitti.cc / stereo_euroc.cc)

  #include <unistd.h>
  #include <stdio.h>
  #include <stdlib.h>
  

5. ORB_SLAM ROS

Move ORB_SLAM file to catkin_ws/src/ and Remove build file

./build.sh
./build_ros.sh

• if error ./build_ros.sh

  raulmur/ORB_SLAM2#535

6. Realsense setting

Install the latest Intel® RealSense™ SDK 2.0

• https://github.com/IntelRealSense/realsense-ros#installation-instructions

• Register the server's public key:

  sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
  

• Add the server to the list of repositories (Ubuntu 16 LTS):

  sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
  

• Install the libraries

  sudo apt-get install librealsense2-dkms
  sudo apt-get install librealsense2-utils
  sudo apt-get install librealsense2-dev
  sudo apt-get install librealsense2-dbg
  

• check install

  realsense-viewer
  

Install Intel® RealSense™ ROS from Sources

• create_workspace

  mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws/src/
  

• Clone the latest Intel® RealSense™ ROS from here into 'catkin_ws/src/'

  git clone https://github.com/IntelRealSense/realsense-ros.git
  cd realsense-ros/
  git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`
  cd ..
  

• install ddynamic_reconfigure

  git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
  

• catkin_make

  catkin_init_workspace
  cd ..
  catkin_make clean
  catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
  catkin_make install
  echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
  source ~/.bashrc
  

7. Realsense D435 ROS

launch file

• http://www.programmersought.com/article/485956353/

• Add two lines at [rs_rgbd.launch]:110 lines

  <remap from="/camera/aligned_depth_to_color/image_raw" to="/camera/depth_registered/image_view>
  <remap from="/camera/color/image_raw" to="/camera/rgb/image_raw>
  

rs_rgbd.launch fails

• realsenseai/realsense-ros#308

8. ORB_SLAM & D435

roslaunch realsense2_camera rs_rgbd.launch 

rosrun ORB_SLAM2 RGBD ~/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asus.yaml