slam orbslam3

KURULUM

Kurulacak paketler

• orbslam3roswrapper
• orbslam3
• pangolin
• C++11 ya da C++0x Derleyici --> c11 tüklü
• Opencv 3.2.0 veya 4.4.0 --> opencv 4.10.0 yüklü
• Eigen3 en az 3.1.0 --> eigen 3.2.10 yüklü
• DBOW2 and g2o (ORBSLAM'de var olarak geliyor)

  Derleme Kodları

cmake -B build   -DCMAKE_PREFIX_PATH=/usr   -DOPENGL_INCLUDE_DIR=/usr/include   -DOPENGL_gl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so   -DOPENGL_opengl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so   -DEGL_LIBRARY=/usr/lib/x86_64-linux-gnu/libEGL.so -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.10.12 -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.10.so

make -B build \
-DCMAKE_PREFIX_PATH=/usr \
-DOPENGL_INCLUDE_DIR=/usr/include \
-DOPENGL_gl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so \
-DOPENGL_opengl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so \
-DPYTHON_EXECUTABLE=/usr/bin/python3 \
-DPYTHON_INCLUDE_DIR=/usr/include/python3.10 \
-DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.10.so

#OpenGl'i eklemek
cmake -B build \
    -DOpenGL_GL_PREFERENCE=LEGACY \
    -DOPENGL_INCLUDE_DIR=/usr/include \
    -DOPENGL_gl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so \
    -DOPENGL_opengl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so

ÇALIŞTIRMA

ORBSLAM3 ROS2

ros2 run orbslam3 mono /home/rag0n/Desktop/orb_ws/src/ORB_SLAM3_ROS2/vocabulary/ORBvoc.txt /home/rag0n/Desktop/orb_ws/src/ORB_SLAM3_ROS2/config/monocular/EuRoC.yaml

ORBSLAM3 indirdiğimiz fr1 verisiyle ORBSLAM3 examples dosyalarını kullanarak test yapıyoruz

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml ~/rgbd_dataset_freiburg1_xyz/ Examples/RGB-D/associations/fr1_xyz.txt

• TUGBOT

ros2 run orbslam3 rgbd /home/rag0n/Desktop/orb_ws/src/ORB_SLAM3_ROS2/vocabulary/ORBvoc.txt /home/rag0n/Desktop/TUGBOT_CAMINFO_ORBSLAM.yaml