Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

Related tags

Graphics ORB_SLAM2
Overview

ORB-SLAM2

Authors: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2)

13 Jan 2017: OpenCV 3 and Eigen 3.3 are now supported.

22 Dec 2016: Added AR demo (see section 7).

ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time. We provide examples to run the SLAM system in the KITTI dataset as stereo or monocular, in the TUM dataset as RGB-D or monocular, and in the EuRoC dataset as stereo or monocular. We also provide a ROS node to process live monocular, stereo or RGB-D streams. The library can be compiled without ROS. ORB-SLAM2 provides a GUI to change between a SLAM Mode and Localization Mode, see section 9 of this document.

ORB-SLAM2 ORB-SLAM2 ORB-SLAM2

Related Publications:

[Monocular] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF.

[Stereo and RGB-D] Raúl Mur-Artal and Juan D. Tardós. ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras. IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1255-1262, 2017. PDF.

[DBoW2 Place Recognizer] Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012. PDF

1. License

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

For a closed-source version of ORB-SLAM2 for commercial purposes, please contact the authors: orbslam (at) unizar (dot) es.

If you use ORB-SLAM2 (Monocular) in an academic work, please cite:

@article{murTRO2015,
  title={{ORB-SLAM}: a Versatile and Accurate Monocular {SLAM} System},
  author={Mur-Artal, Ra\'ul, Montiel, J. M. M. and Tard\'os, Juan D.},
  journal={IEEE Transactions on Robotics},
  volume={31},
  number={5},
  pages={1147--1163},
  doi = {10.1109/TRO.2015.2463671},
  year={2015}
 }

if you use ORB-SLAM2 (Stereo or RGB-D) in an academic work, please cite:

@article{murORB2,
  title={{ORB-SLAM2}: an Open-Source {SLAM} System for Monocular, Stereo and {RGB-D} Cameras},
  author={Mur-Artal, Ra\'ul and Tard\'os, Juan D.},
  journal={IEEE Transactions on Robotics},
  volume={33},
  number={5},
  pages={1255--1262},
  doi = {10.1109/TRO.2017.2705103},
  year={2017}
 }

2. Prerequisites

We have tested the library in Ubuntu 12.04, 14.04 and 16.04, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.

C++11 or C++0x Compiler

We use the new thread and chrono functionalities of C++11.

Pangolin

We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

OpenCV

We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Required at leat 2.4.3. Tested with OpenCV 2.4.11 and OpenCV 3.2.

Eigen3

Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.

DBoW2 and g2o (Included in Thirdparty folder)

We use modified versions of the DBoW2 library to perform place recognition and g2o library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the Thirdparty folder.

ROS (optional)

We provide some examples to process the live input of a monocular, stereo or RGB-D camera using ROS. Building these examples is optional. In case you want to use ROS, a version Hydro or newer is needed.

3. Building ORB-SLAM2 library and examples

Clone the repository:

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

We provide a script build.sh to build the Thirdparty libraries and ORB-SLAM2. Please make sure you have installed all required dependencies (see section 2). Execute:

cd ORB_SLAM2
chmod +x build.sh
./build.sh

This will create libORB_SLAM2.so at lib folder and the executables mono_tum, mono_kitti, rgbd_tum, stereo_kitti, mono_euroc and stereo_euroc in Examples folder.

4. Monocular Examples

TUM Dataset

  1. Download a sequence from http://vision.in.tum.de/data/datasets/rgbd-dataset/download and uncompress it.

  2. Execute the following command. Change TUMX.yaml to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change PATH_TO_SEQUENCE_FOLDERto the uncompressed sequence folder.

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml PATH_TO_SEQUENCE_FOLDER

KITTI Dataset

  1. Download the dataset (grayscale images) from http://www.cvlibs.net/datasets/kitti/eval_odometry.php

  2. Execute the following command. Change KITTIX.yamlby KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change PATH_TO_DATASET_FOLDER to the uncompressed dataset folder. Change SEQUENCE_NUMBER to 00, 01, 02,.., 11.

./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER

EuRoC Dataset

  1. Download a sequence (ASL format) from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

  2. Execute the following first command for V1 and V2 sequences, or the second command for MH sequences. Change PATH_TO_SEQUENCE_FOLDER and SEQUENCE according to the sequence you want to run.

./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml PATH_TO_SEQUENCE_FOLDER/mav0/cam0/data Examples/Monocular/EuRoC_TimeStamps/SEQUENCE.txt 
./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml PATH_TO_SEQUENCE/cam0/data Examples/Monocular/EuRoC_TimeStamps/SEQUENCE.txt 

5. Stereo Examples

KITTI Dataset

  1. Download the dataset (grayscale images) from http://www.cvlibs.net/datasets/kitti/eval_odometry.php

  2. Execute the following command. Change KITTIX.yamlto KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change PATH_TO_DATASET_FOLDER to the uncompressed dataset folder. Change SEQUENCE_NUMBER to 00, 01, 02,.., 11.

./Examples/Stereo/stereo_kitti Vocabulary/ORBvoc.txt Examples/Stereo/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER

EuRoC Dataset

  1. Download a sequence (ASL format) from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

  2. Execute the following first command for V1 and V2 sequences, or the second command for MH sequences. Change PATH_TO_SEQUENCE_FOLDER and SEQUENCE according to the sequence you want to run.

./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml PATH_TO_SEQUENCE/mav0/cam0/data PATH_TO_SEQUENCE/mav0/cam1/data Examples/Stereo/EuRoC_TimeStamps/SEQUENCE.txt
./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml PATH_TO_SEQUENCE/cam0/data PATH_TO_SEQUENCE/cam1/data Examples/Stereo/EuRoC_TimeStamps/SEQUENCE.txt

6. RGB-D Example

TUM Dataset

  1. Download a sequence from http://vision.in.tum.de/data/datasets/rgbd-dataset/download and uncompress it.

  2. Associate RGB images and depth images using the python script associate.py. We already provide associations for some of the sequences in Examples/RGB-D/associations/. You can generate your own associations file executing:

python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associations.txt
  1. Execute the following command. Change TUMX.yaml to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change PATH_TO_SEQUENCE_FOLDERto the uncompressed sequence folder. Change ASSOCIATIONS_FILE to the path to the corresponding associations file.
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUMX.yaml PATH_TO_SEQUENCE_FOLDER ASSOCIATIONS_FILE

7. ROS Examples

Building the nodes for mono, monoAR, stereo and RGB-D

  1. Add the path including Examples/ROS/ORB_SLAM2 to the ROS_PACKAGE_PATH environment variable. Open .bashrc file and add at the end the following line. Replace PATH by the folder where you cloned ORB_SLAM2:
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
  1. Execute build_ros.sh script:
chmod +x build_ros.sh
./build_ros.sh

Running Monocular Node

For a monocular input from topic /camera/image_raw run node ORB_SLAM2/Mono. You will need to provide the vocabulary file and a settings file. See the monocular examples above.

rosrun ORB_SLAM2 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE

Running Monocular Augmented Reality Demo

This is a demo of augmented reality where you can use an interface to insert virtual cubes in planar regions of the scene. The node reads images from topic /camera/image_raw.

rosrun ORB_SLAM2 MonoAR PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE

Running Stereo Node

For a stereo input from topic /camera/left/image_raw and /camera/right/image_raw run node ORB_SLAM2/Stereo. You will need to provide the vocabulary file and a settings file. If you provide rectification matrices (see Examples/Stereo/EuRoC.yaml example), the node will recitify the images online, otherwise images must be pre-rectified.

rosrun ORB_SLAM2 Stereo PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE ONLINE_RECTIFICATION

Example: Download a rosbag (e.g. V1_01_easy.bag) from the EuRoC dataset (http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets). Open 3 tabs on the terminal and run the following command at each tab:

roscore
rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml true
rosbag play --pause V1_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw

Once ORB-SLAM2 has loaded the vocabulary, press space in the rosbag tab. Enjoy!. Note: a powerful computer is required to run the most exigent sequences of this dataset.

Running RGB_D Node

For an RGB-D input from topics /camera/rgb/image_raw and /camera/depth_registered/image_raw, run node ORB_SLAM2/RGBD. You will need to provide the vocabulary file and a settings file. See the RGB-D example above.

rosrun ORB_SLAM2 RGBD PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE

8. Processing your own sequences

You will need to create a settings file with the calibration of your camera. See the settings file provided for the TUM and KITTI datasets for monocular, stereo and RGB-D cameras. We use the calibration model of OpenCV. See the examples to learn how to create a program that makes use of the ORB-SLAM2 library and how to pass images to the SLAM system. Stereo input must be synchronized and rectified. RGB-D input must be synchronized and depth registered.

9. SLAM and Localization Modes

You can change between the SLAM and Localization mode using the GUI of the map viewer.

SLAM Mode

This is the default mode. The system runs in parallal three threads: Tracking, Local Mapping and Loop Closing. The system localizes the camera, builds new map and tries to close loops.

Localization Mode

This mode can be used when you have a good map of your working area. In this mode the Local Mapping and Loop Closing are deactivated. The system localizes the camera in the map (which is no longer updated), using relocalization if needed.

Comments
  • ORB-SLAM2 with Kinect

    ORB-SLAM2 with Kinect

    Hey everyone, I am trying to use Kinect with the ORB-SLAM2. I already went through the dataset examples, and they worked fine. However, when trying to use with kinect, it doesn't work: the camera window displays "Waiting for Images". I already checked rostopic list, which gives: /camera/depth_registered/image_raw /camera/rgb/image_raw /rosout /rosout_agg

    The two first topics are the ones that should be used with ORB-SLAM2, right?

    In addition, I already tried launching libfreenect: roslaunch freenect_launch freenect.launch

    I get a bunch more rostopics and I am even able to view rgb video stream from image_view: rosrun image_view image_view image:=/camera/rgb/image_raw However, I cannot view the depth image from /camera/depth_registered/image_raw, but I can view the one in the topic: rosrun image_view image_view image:=/camera/depth/image

    I tried to change the ros_rgbd.cc file From: message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "camera/depth_registered/image_raw", 1); To: message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "/camera/depth/image", 1);

    However, I didn't it would work anyway (and it didn't). Neither of the above solved the problem.

    When executing the rqt_graph, it seems like ORB_SLAM2 creates a node called RGBD that is getting the topic /camera/rgb/image_raw. The rqt_graph can be seen below: https://www.dropbox.com/s/fri1ik0xtzw7a9e/rosgraph.png?dl=0 (seems like the link can only be accessed by copying and pasting into the browser)

    Would any of you have a suggestion of what can I do

    opened by marcelinomalmeidan 25
  • ROS build error for ORB_SLAM2

    ROS build error for ORB_SLAM2

    I want to build ROS node. I have set the environment variable as follows and also added it to .bashrc. Still I get the errrors as shown bellow. Anyone has idea?

    export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:home/ujjval/ORB_SLAM2/Examples/ROS/ORB_SLAM2

    `[email protected]:~/ORB_SLAM2$ ./build_ros.sh Building ROS nodes mkdir: cannot create directory ‘build’: File exists [rosbuild] Building package ORB_SLAM2 [rosbuild] Error from directory check: /opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py /home/ujjval/ORB_SLAM2/Examples/ROS/ORB_SLAM2 1 Traceback (most recent call last): File "/opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py", line 46, in raise Exception Exception CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/private.cmake:102 (message): [rosbuild] rospack found package "ORB_SLAM2" at "", but the current directory is "/home/ujjval/ORB_SLAM2/Examples/ROS/ORB_SLAM2". You should double-check your ROS_PACKAGE_PATH to ensure that packages are found in the correct precedence order. Call Stack (most recent call first): /opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location) CMakeLists.txt:4 (rosbuild_init)

    -- Configuring incomplete, errors occurred! See also "/home/ujjval/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log". make: *** No targets specified and no makefile found. Stop. `

    opened by ujur007 24
  • How to obtain 3D point cloud of the map?

    How to obtain 3D point cloud of the map?

    Hello,

    I am a newbie and I am sorry if this is the wrong place to ask this question. I want to use the 3D point cloud obtained from ORB slam in order to recognize structures like walls/floor/ceiling etc. And after this, I want to generate some augmentations. I just want to know how to obtain the pose of the camera and 3D positions of all landmarks (point cloud). Also all these are with respect to the world co-ordinate system?

    Thank you very much. Cheers!

    opened by akashshar 24
  • Discuss map save & load

    Discuss map save & load

    When I needed to save and load maps, I saw many ORB-SLAM2 forks doing it in many ways, some not working, most saving unnecessary data.

    I went on a deep journey and got a decent working minimum binary file size, avoiding saving a lot of members: some ephemeral, some rebuildable. But I did it on a modified version of ORB-SLAM2, working only on monocular.

    If someone want to debate and code a neat serialize class for ORB-SLAM2 to share, this is where to start.

    opened by AlejandroSilvestri 20
  • OpenCV error when running ros examples  in Ubuntu16.04 + ROS (kinetic version)

    OpenCV error when running ros examples in Ubuntu16.04 + ROS (kinetic version)

    Hi, I tried to run the ros examples in Ubuntu16.04 + ROS (kinetic version), run the following command at each tab: roscore rosrun ORB_SLAM2 Stereo ORB_SLAM2/Vocabulary/ORBvoc.txt ORB_SLAM2/Examples/Stereo/EuRoC.yaml true rosbag play --pause Downloads/MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw I got this problems: OpenCV Error: Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName, file /tmp/binarydeb/ros-kinetic-opencv3-3.1.0/modules/core/src/persistence.cpp, line 709 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/binarydeb/ros-kinetic-opencv3-3.1.0/modules/core/src/persistence.cpp:709: error: (-5) Invalid pointer to file storage in function cvGetFileNodeByName..

    How to solve the problem? Hope to you reply, thank u very much.

    opened by gblack007 18
  • ORB extraction

    ORB extraction

    I found 2 issues in orb extraction when I used it in another project.

    1. it will crash in DistributeOctTree(nIni = 0) if the image width is smaller than height
    2. The results are always different for several times feature extraction with a same image, but I don't find anywhere used random variation.
    opened by jianchong-chen 17
  • Unable to build the ros examples!

    Unable to build the ros examples!

    Hi,

    I'm having an issue with building the ROS examples. The first part of the installation works perfectly.i.e I can successfully build the Thirdparty libraries and the examples. But when I try to build the ROS examples, I get this error:

    `[rosbuild] Building package ORB_SLAM2 [rosbuild] Error from directory check: /opt/ros/indigo/share/ros/core/rosbuild/bin/check_same_directories.py /home/ankit/orb_slam_catkin_ws/ORB_SLAM2/Examples/ROS/ORB_SLAM2 1 Traceback (most recent call last): File "/opt/ros/indigo/share/ros/core/rosbuild/bin/check_same_directories.py", line 46, in raise Exception Exception CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/private.cmake:102 (message): [rosbuild] rospack found package "ORB_SLAM2" at "", but the current directory is "/home/ankit/orb_slam_catkin_ws/ORB_SLAM2/Examples/ROS/ORB_SLAM2". You should double-check your ROS_PACKAGE_PATH to ensure that packages are found in the correct precedence order. Call Stack (most recent call first): /opt/ros/indigo/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location) CMakeLists.txt:4 (rosbuild_init)

    -- Configuring incomplete, errors occurred! ` I guess this could be something to do with opencv. Not sure though! P.S I have all the dependencies installed successfully.

    Thanks

    opened by ankitvora7 17
  • Map Viewer Top View

    Map Viewer Top View

    Hello, for the Map Viewer, would there be a way to set the view as Top View, like this video (https://www.youtube.com/watch?feature=player_embedded&v=LnbAI-o7YHk)? Thank you for your help!

    opened by ghost 16
  • Not solved yet. Please help! How can I upload the camera data and apply monocular in real time?

    Not solved yet. Please help! How can I upload the camera data and apply monocular in real time?

    Hi,

    I'm a newbie at SLAM and Linux system. I followed the tutorial and ran the example TUM dataset in Ubuntu for a test, it works well. Now I want to upload my camera raw data in real time to run monocular algorithm. How can I do this? Which interface should I choose?

    And how can I make use of my telephone sensor to make a better adjustment?

    Thanks a lot for your help.

    opened by scp096 14
  • How to get the scale factor in Monocular ORB-SLAM?

    How to get the scale factor in Monocular ORB-SLAM?

    I am trying to run monocular ORB-SLAM with a preloaded map of the same area and if it recognizes the place it should merge the maps together. Since monocular slam can only determine the pose up to a certain scale, ORB-SLAM gives each time different result (different scale), which affects the comparison with the preloaded map. Is there any possibility to change the scale factor of one map according to another map? Does anyone here has experience with map merging using ORB-SLAM? I appreciate any kind of help!

    opened by Zhujiazhen 12
  • too many key frames!!!

    too many key frames!!!

    I'm using a calibratied kinect2 with orbslam2. but when I using it, even with a small move of 4cm, it produce so many keyframes(about 14). why? BTW, the dense point cloud is ugly. temp

    opened by EXing 12
  • A quick explanation on the math behind int ORBmatcher::SearchByProjection(Frame &CurrentFrame, const Frame &LastFrame, const float th, const bool bMono) method in ORBmatcher.cc

    A quick explanation on the math behind int ORBmatcher::SearchByProjection(Frame &CurrentFrame, const Frame &LastFrame, const float th, const bool bMono) method in ORBmatcher.cc

    Hi @raulmur,

    Sir, can you direct me to some resources regarding how you designed the math behind the

    int ORBmatcher::SearchByProjection(Frame &CurrentFrame, const Frame &LastFrame, const float th, const bool bMono) method?

    I am building a SLAM pipeline based on PySLAM project (https://github.com/luigifreda/pyslam) which developed most of ORB-SLAM2 in Python.

    With best, @Mechazo11

    opened by Mechazo11 0
  • is it possible /camera/image/compressed ?

    is it possible /camera/image/compressed ?

    i want to feed /camera/image/compressed topic to ORB_SLAM2. i think it should speed up the ORB_SLAM2. i know that it eats /camera/image_raw but i tried to change ros_mono.cc: ros::Subscriber sub = nodeHandler.subscribe("/camera/image/compressed", 1, &ImageGrabber::GrabImage,&igb); But this way i only change topic to publish not type of messages that should be: sensor_msgs/CompressedImage So when i start up with my raspicamera i crash out with: [ERROR] [1662981431.182643497]: Client [/Mono] wants topic /camera/image/compressed to have datatype/md5sum [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version has [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f]. Dropping connection

    where to change type of messages for ros_mono.cc ?

    opened by zoldaten 2
  • help me please

    help me please

    hi,I want to ask a question. that is how to come true a track issue.I need realize back vehicle track front vehicle by camera.But i dont know how to do?how to get pose and give to the code?if you know,please teach me.thank you.

    opened by 18392193281 3
  • problem about blue points

    problem about blue points

    hi! I notice in FrameDrawer.cc if a mappoint created with no observation(maybe new mappoint?),it should be showed in current frame with bule points.However,all mappoints in current frame are drawed in green points.Is there any problem here? (ps:source code
    if(vbMap[i]) { cv::rectangle(im,pt1,pt2,cv::Scalar(0,255,0)); cv::circle(im,vCurrentKeys[i].pt,2,cv::Scalar(0,255,0),-1); mnTracked++; } else // This is match to a "visual odometry" MapPoint created in the last frame { cv::rectangle(im,pt1,pt2,cv::Scalar(255,0,0)); cv::circle(im,vCurrentKeys[i].pt,2,cv::Scalar(255,0,0),-1); mnTrackedVO++; } }) I did some change in orb-slam2 and blue points can be seen.But I am not sure whether I made some mistakes,because blue points never appear in original orb-slam2.

    opened by flyover-26 1
  • ./build_ros.sh error

    ./build_ros.sh error

    I have the error when running ./build_ros.sh. [rosbuild] rospack found package "ORB_SLAM2" at "", but the current directory is "/media/ytl/2TB/catkin_orb/src/ORB_SLAM2_modified/Examples/ROS/ORB_SLAM2". You should double-check your ROS_PACKAGE_PATH to ensure that packages are found in the correct precedence order.

    However, my $ROS_PACKAGE_PATH is this. [email protected]:~$ echo $ROS_PACKAGE_PATH

    /opt/ros/melodic/share:/media/ytl/2TB/catkin_orb/src/ORB_SLAM3/Examples/ROS:PATH/ORB_SLAM2_modified/Examples/ROS

    [email protected]:~$ echo $ROS_ROOT /opt/ros/melodic/share/ros

    My .bashrc file: source /opt/ros/melodic/setup.bash #export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples/ROS export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2_modified/Examples/ROS

    Ubuntu 18.04

    opened by tungtungyan 2
Owner
Raul Mur-Artal
Computer Vision - SLAM
Raul Mur-Artal
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