Ubuntu 16.04 下 RGBDSLAM-v2 的安装和使用

本文最后更新于：May 7, 2023 pm

简介

RGBD-SLAM-v2 is a state-of-the-art SLAM system for RGB-D cameras, e.g., the Microsoft Kinect. You can use it to create highly accurate 3D point clouds or OctoMaps.

RGBDSLAMv2 is based on the ROS project, OpenCV, PCL, OctoMap, SiftGPU and more.

rgbdslam_v2_cg

!!! Important

本人已建立了 RGBDSLAM-v2 的改版 cggos/rgbdslam_v2_cg，可直接跳转到该项目下，阅读 README.md 进行项目的安装，本文以下部分不必阅读。

!!! Important

运行环境

平台
- Ubuntu 16.04 + ROS kinetic
数据源
- RGB-D dataset: rgbd_dataset_freiburg1_xyz.bag
- RGB-D camera: Realsense Camera ZR300

安装依赖

sudo apt-get install libglew1.5-dev libdevil-dev libsuitesparse-dev

rgbdslam作者的g2o

1	`git clone https://github.com/felixendres/g2o.git`

pcl-1.8.0
1
wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.0.tar.gz
pcl-1.8.0 的 CMakeLists.txt 中加入 C++11 支持:
1
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
依赖库g2o和pcl不兼容，可能导致 “required process[rgbdslam-2] has died”......Iinitiating down 问题，程序挂掉。

编译 rgbdslam_v2

下载 rgbdslam_v2

1	`wget -q http://github.com/felixendres/rgbdslam_v2/archive/kinetic.zip`

rosdep
1
2
rosdep update rosdep install rgbdslam
修改 CMakeLists.txt
- 第6行加入: add_compile_options(-std=c++11)
- set(USE_SIFT_GPU 1 CACHE BOOL "build with support for siftgpu") 改为 set(USE_SIFT_GPU 0 CACHE BOOL "build with support for siftgpu")
- find_package(PCL 1.7 REQUIRED COMPONENTS common io) 改为 find_package(PCL 1.8 REQUIRED COMPONENTS common io)
编译
1
catkin_make

运行

RGB-D 数据集

RGB-D 数据集使用 rgbd_dataset_freiburg1_xyz.bag

修改 rgbdslam_v2 的 launch文件 rgbdslam.launch 中的图像topic

1 2	`<param name="config/topic_image_mono" value="/camera/rgb/image_color"/> <param name="config/topic_image_depth" value="/camera/depth/image"/>`

运行

1 2	`roscore & rosbag play rgbd_dataset_freiburg1_xyz.bag roslaunch rgbdslam rgbdslam.launch`

结果

RGB-D 相机

RGB-D 相机使用 Realsense Camera ZR300

修改 rgbdslam_v2 的 launch文件 rgbdslam.launch 中的图像topic

1 2	`<param name="config/topic_image_mono" value="/camera/rgb/image_color"/> <param name="config/topic_image_depth" value="/camera/depth_registered/sw_registered/image_rect_raw"/>`