Authors: Zhenghua.Hou HIT 16S108281

2017.12.9: Use ros to run orbslam2_modified with Kinect v2.

Introduction: Dr.Gao Xiang has modified the ORB_SLAM2 so that it can display the point cloud map, but this version does not have the function of point cloud integration and point cloud preservation. Replace the provided document and project can save the point cloud as a PCD file after voxel filtering. Provides documentation for running under ROS

Reference: Dr.Gao Xiang's GitHub; ORB_SLAM2 by raulmur

Only Myself and My junior of laboratory.

git clone https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map.git

ORB_SLAM2_modified/Vocabulary missing txt of BoW model, can be copied from ORB_SLAM2 source code

Recompile g2o

Recompile the BoW library

The project only supports opencv2

Orbslam_modified version didnot modify the CMakeLists in ROS. Due to the addition of the PCL library, and the way to compile g2o. we need to be modified.

"CMakeLists.txt" under the "ORBSLAM2_with_pointcloud_map/orbslam2_modified/ORB_SLAM2_modified/Example/ROS/ORB_SLAM2" folder

gedit .bashrc
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/hou/ORBSLAM2_with_pointcloud_map/orbslam2_modified/ORB_SLAM2_modified/Examples/ROS

roscore
roslaunch freenect_launch freenect-registered-xyzrgb.launch
cd ORBSLAM2_with_pointcloud_map/orbslam2_modified/ORB_SLAM2_modified/Examples/ROS
rosrun ORB_SLAM2 RGBD /home/hou/ORBSLAM2_with_pointcloud_map/orbslam2_modified/ORB_SLAM2_modified/Vocabulary/ORBvoc.txt /home/hou/ORBSLAM2_with_pointcloud_map/orbslam2_modified/ORB_SLAM2_modified/Examples/RGB-D/kinect1.yaml