🗺 ORB SLAM2 Elsalab ver.

🚘📡🕹 A modification of ORB SLAM2 with map reloading and grid-map generating.

License

ORB-SLAM2 is released under a GPLv3 license. For a list of all code/library dependencies (and associated licenses), please see Dependencies.md.

The original authors are Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2)

Execution

• open 4 terminals

$ roscore
$ zedros # zed camera
$ monopub
$ monosub

Save/Load map

• When terminating the ORB_SLAM2, the map will be saved as file.bin automatically under $HOME

  • It may take a few minutes, Do Not close the terminal
  • Remember to change file name if necessary

• When restarting the ORB_SLAM2, it will read the map at the beginning

  • Make sure that file.bin is under $HOME
  • The pointer of the terminal is also at $HOME
  • Cancel the Localization mode so that it can add new keyframes and publish the camera pose

Fake AMCL Pose Usage

$ sudo su # admin mode Dangerous!!!!
$ sudo -H
$ source /home/elsalab/zed/zed-enb/bin/activate
$ source /home/elsalab/Desktop/catkin_ws/devel/setup.bash
$ rosrun fake_amcl_pose fake_amcl_pose.py

^ press esc to exit

Grid Map Generating

$ python pointCloudToGridMap2D.py --help
  usage: pointCloudToGridMap2D.py [-h] [--point_cloud POINT_CLOUD_FNAME]
                                [--keyframe_trajectory KEYFRAME_TRAJECTORY_FNAME]
                                [--scale SCALE_FACTOR]
                                [--resize RESIZE_FACTOR]
                                [--filter FILTER_GROUND_POINTS]
                                [--counter LOAD_COUNTERS]
                                [--free_thresh FREE_THRESH]
                                [--occupied_thresh OCCUPIED_THRESH]
                                [--output_file_name OUTPUT_FILE_NAME]
^ press any key on cv-window to terminate
^ outputfiles includes a `pgm` file and a `yaml` file

Screen Recording

kazam

# video converter 
ffmpeg -i 原檔名.mp4 -f mp4 -vcodec libx264 -preset fast -profile:v main -pix_fmt yuv420p -acodec aac 轉檔名.mp4 -hide_banner

See Topic

$ rosrun rqt_graph rqt_graph

Reference

https://github.com/abhineet123/ORB_SLAM2 # grid map ver.
https://github.com/Alkaid-Benetnash/ORB_SLAM2 # save map ver.