Notes on ROS and ORB SLAM 2

https://github.com/raulmur/ORB_SLAM2

This seems like the most recent openly available slam package I could find. So let’s try it out

whenever using ros always

run

 

when using ros

rosnode info or rosnode list to inspect running nodes

rostopic gets the avaiable messages

Something like this. However, should edit the yaml config file

sudo apt-get install ros-kinetic-usb-cam

To inspect the image

rosrun usb_cam usb_cam_node __name:=camera

changes the topic name to camera

 

Dang. I’m pretty impressed. With a bad calibration file and no tuning, it works ok in short term. Blur clearly seems like an issue.

The contents of the example yaml config

 

Other things to consider LSD-SLAM

SVO

DSO

Actually, many people are recommending svo and dso saying orb_slam while the better behaving one, works poorly on the pi

https://github.com/uzh-rpg/rpg_open_remode

OpenSfm

http://theia-sfm.org/

https://arxiv.org/pdf/1701.08493.pdf

https://github.com/uoip/monoVO-python

http://avisingh599.github.io/vision/monocular-vo/

https://gist.github.com/nickoala/8d7e0bc24be3cec459e63bc1eb8cc858

Also a perhaps useful ROS short course

Old 6/16:

So I downloaded a cool looking package

https://github.com/uzh-rpg/rpg_svo

roslaunch svo_ros live.launch

You need to have a camera running

sudo apt-get install ros-jade-usb-cam

run with

rosrun usb_cam usb_cam_node

You can see it using image_viewer

rosrun image_viewer image_viewer image:=/cam_usb/image_raw

Change the param file in svo_ros so that the camera has the same resolution and stuff

One thought on “Notes on ROS and ORB SLAM 2”

  1. dear philip,

    unfortunately, I couldnt run SVO in successfuly. there is not any error but also no image taken. please would you help me?

    root@otonomgy:~# roslaunch svo_ros live.launch
    … logging to /home/otonomgy/.ros/log/3739e4a0-fd27-11e8-aa5b-00249b067da8/roslaunch-otonomgy-25975.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.

    started roslaunch server http://otonomgy:34640/

    SUMMARY
    ========

    CLEAR PARAMETERS
    * /svo/

    PARAMETERS
    * /rosdistro: indigo
    * /rosversion: 1.11.21
    * /svo/cam_cx: 0.45905
    * /svo/cam_cy: 0.510056
    * /svo/cam_d0: 0.932
    * /svo/cam_fx: 0.509326
    * /svo/cam_fy: 0.796651
    * /svo/cam_height: 480
    * /svo/cam_model: ATAN
    * /svo/cam_topic: /camera/image_raw
    * /svo/cam_width: 752
    * /svo/grid_size: 30
    * /svo/loba_num_iter: 0
    * /svo/max_n_kfs: 10

    NODES
    /
    svo (svo_ros/vo)

    ROS_MASTER_URI=http://localhost:11311

    core service [/rosout] found
    process[svo-1]: started with pid [25994]
    create vo_node
    [ WARN] [1544524345.935536813]: Cannot find value for parameter: svo/publish_img_pyr_level, assigning default: 0
    [ WARN] [1544524345.935959091]: Cannot find value for parameter: svo/publish_every_nth_img, assigning default: 1
    [ WARN] [1544524345.936345647]: Cannot find value for parameter: svo/publish_every_nth_dense_input, assigning default: 1
    [ WARN] [1544524345.937423006]: Cannot find value for parameter: svo/publish_world_in_cam_frame, assigning default: 1
    [ WARN] [1544524345.938206727]: Cannot find value for parameter: svo/publish_map_every_frame, assigning default: 0
    [ WARN] [1544524345.938944263]: Cannot find value for parameter: svo/publish_point_display_time, assigning default: 0
    [ WARN] [1544524345.986700328]: Cannot find value for parameter: svo/publish_markers, assigning default: 1
    [ WARN] [1544524345.987197291]: Cannot find value for parameter: svo/publish_dense_input, assigning default: 0
    [ WARN] [1544524345.987616560]: Cannot find value for parameter: svo/accept_console_user_input, assigning default: 1
    [ INFO] [1544524345.987989932]: Found parameter: svo/cam_model, value: ATAN
    [ INFO] [1544524345.988327367]: Found parameter: svo/cam_width, value: 752
    [ INFO] [1544524345.988655794]: Found parameter: svo/cam_height, value: 480
    [ INFO] [1544524345.989018123]: Found parameter: svo/cam_fx, value: 0.509326
    [ INFO] [1544524345.989424379]: Found parameter: svo/cam_fy, value: 0.796651
    [ INFO] [1544524345.990030832]: Found parameter: svo/cam_cx, value: 0.45905
    [ INFO] [1544524345.990584272]: Found parameter: svo/cam_cy, value: 0.510056
    [ INFO] [1544524345.991248834]: Found parameter: svo/cam_d0, value: 0.932
    [ WARN] [1544524345.991774125]: Cannot find value for parameter: svo/init_tz, assigning default: 0
    [ WARN] [1544524345.992140694]: Cannot find value for parameter: svo/init_ty, assigning default: 0
    [ WARN] [1544524345.992479342]: Cannot find value for parameter: svo/init_tx, assigning default: 0
    [ WARN] [1544524345.992812984]: Cannot find value for parameter: svo/init_rz, assigning default: 0
    [ WARN] [1544524345.993197315]: Cannot find value for parameter: svo/init_ry, assigning default: 0
    [ WARN] [1544524345.993577166]: Cannot find value for parameter: svo/init_rx, assigning default: 0
    [ WARN] [1544524345.994047969]: Cannot find value for parameter: svo/trace_name, assigning default: svo
    [ WARN] [1544524345.994407675]: Cannot find value for parameter: svo/trace_dir, assigning default: /tmp
    [ WARN] [1544524345.994828253]: Cannot find value for parameter: svo/n_pyr_levels, assigning default: 3
    [ WARN] [1544524345.995234278]: Cannot find value for parameter: svo/use_imu, assigning default: 0
    [ WARN] [1544524345.995629651]: Cannot find value for parameter: svo/core_n_kfs, assigning default: 3
    [ WARN] [1544524345.996020414]: Cannot find value for parameter: svo/map_scale, assigning default: 1
    [ INFO] [1544524345.996393611]: Found parameter: svo/grid_size, value: 30
    [ WARN] [1544524345.996754793]: Cannot find value for parameter: svo/init_min_disparity, assigning default: 50
    [ WARN] [1544524345.997111062]: Cannot find value for parameter: svo/init_min_tracked, assigning default: 50
    [ WARN] [1544524345.997519501]: Cannot find value for parameter: svo/init_min_inliers, assigning default: 40
    [ WARN] [1544524345.998002001]: Cannot find value for parameter: svo/klt_max_level, assigning default: 4
    [ WARN] [1544524345.998514998]: Cannot find value for parameter: svo/klt_min_level, assigning default: 2
    [ WARN] [1544524345.998943629]: Cannot find value for parameter: svo/reproj_thresh, assigning default: 2
    [ WARN] [1544524345.999394252]: Cannot find value for parameter: svo/poseoptim_thresh, assigning default: 2
    [ WARN] [1544524345.999824231]: Cannot find value for parameter: svo/poseoptim_num_iter, assigning default: 10
    [ WARN] [1544524346.000211615]: Cannot find value for parameter: svo/structureoptim_max_pts, assigning default: 20
    [ WARN] [1544524346.000590112]: Cannot find value for parameter: svo/structureoptim_num_iter, assigning default: 5
    [ WARN] [1544524346.001044607]: Cannot find value for parameter: svo/loba_thresh, assigning default: 2
    [ WARN] [1544524346.001401225]: Cannot find value for parameter: svo/loba_robust_huber_width, assigning default: 1
    [ INFO] [1544524346.001764052]: Found parameter: svo/loba_num_iter, value: 0
    [ WARN] [1544524346.002110214]: Cannot find value for parameter: svo/kfselect_mindist, assigning default: 0.12
    [ WARN] [1544524346.002461352]: Cannot find value for parameter: svo/triang_min_corner_score, assigning default: 20
    [ WARN] [1544524346.002816140]: Cannot find value for parameter: svo/triang_half_patch_size, assigning default: 4
    [ WARN] [1544524346.003149888]: Cannot find value for parameter: svo/subpix_n_iter, assigning default: 10
    [ INFO] [1544524346.003540800]: Found parameter: svo/max_n_kfs, value: 10
    [ WARN] [1544524346.003882027]: Cannot find value for parameter: svo/img_imu_delay, assigning default: 0
    [ WARN] [1544524346.004298060]: Cannot find value for parameter: svo/max_fts, assigning default: 120
    [ WARN] [1544524346.004680930]: Cannot find value for parameter: svo/quality_min_fts, assigning default: 50
    [ WARN] [1544524346.005044865]: Cannot find value for parameter: svo/quality_max_drop_fts, assigning default: 40
    [ INFO] [1544524346.005134163]: SVO initialized
    [ INFO] [1544524346.005612548]: Found parameter: svo/cam_topic, value: /camera/image_raw

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