videos mêmes sequences autre slam: Hyon Lim, Jongwoo Lim, H. Jin Kim., “Real-Time 6-DOF Monocular Visual SLAM in a Large-Scale Environment” ICRA 2014.
https://www.youtube.com/watch?v=JyG1EeqCmHY
http://cvlab.hanyang.ac.kr/~jwlim/files/icra2014vslam.pdf
cd ~/orbslam/ORB_SLAM2 ./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /home/bvandepo/orbslam/dataset/sequences/05
Super
./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTI04-12.yaml /home/bvandepo/orbslam/dataset/sequences/16
cp Examples/Monocular/KITTI04-12.yaml Examples/Monocular/KITTI04-12-BVANDEPO.yaml
./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTI04-12-BVANDEPO.yaml /home/bvandepo/orbslam/dataset/sequences/16
kdiff3 CMakeLists.txt CMakeLists.txt.org
#set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O0 -march=native -pipe -p -pg -g3 -Wall -W -D_REENTRANT -coverage -fprofile-arcs -ftest-coverage -Wextra -g")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -O0 -march=native -pipe -p -pg -g3 -Wall -W -D_REENTRANT -coverage -fprofile-arcs -ftest-coverage -Wextra -g")
bvandepo@rapid:~/orbslam/ORB_SLAM2/qt$ cd ../src bvandepo@rapid:~/orbslam/ORB_SLAM2/src$ grep -nRi "Loading ORB Vocabulary." * FrameDrawer.cc:153: s << " LOADING ORB VOCABULARY. PLEASE WAIT...";
System.cc:62: cout « endl « “Loading ORB Vocabulary. This could take a while…” « endl;
hexdump Vocabulary/ORBvoc.txt.bin -v -e '/1 "%01u\n"' hexdump Vocabulary/ORBvoc.txt.bin -v -e '/1 "%01u\n"' >Vocabulary/Deci.txt
ne pas regarder la version 1 d'orbslam
https://github.com/raulmur/ORB_SLAM
https://github.com/raulmur/ORB_SLAM2
cd ~/orbslam/ORB_SLAM2/build cmake .. -DROS_BUILD_TYPE=Release make clean make -j4
pour que ros trouve orbslam la ou il est installé
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/bvandepo/orbslam/ORB_SLAM2/Examples/ROS
roscore rosrun ORB_SLAM2 Mono /home/bvandepo/orbslam/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/bvandepo/orbslam/ORB_SLAM2/Examples/Monocular/ueye1280-BVANDEPO.yaml
ATTENTION le package a été renommé par jonathan en orb_slam2:
rosrun orb_slam2 Mono /home/bvandepo/orbslam/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/bvandepo/orbslam/ORB_SLAM2/Examples/Monocular/ueye1280-BVANDEPO.yaml
script launch pour camera monoculaire en n&b 1280*1024 à 30fps: ~/catkin_ws/src/ueye_cam/launch/ueye1280_gray.launch
roslaunch ueye_cam ueye1280_gray.launch
rosrun camera_calibration cameracalibrator.py --size 8x8 --square 0.022 image:=/camera/image_raw
cd /tmp tar xvf calibrationdata.tar.gz cat ost.txt
# oST version 5.0 parameters [image] width 1280 height 1024 [narrow_stereo] camera matrix 736.001094 0.000000 632.409041 0.000000 735.508999 500.844649 0.000000 0.000000 1.000000 distortion -0.367059 0.107335 -0.000775 -0.000279 0.000000
injecté dans /home/bvandepo/orbslam/ORB_SLAM2/Examples/Monocular/ueye1280-BVANDEPO.yaml
git clone https://github.com/bvandepo/-CAMERACALIBROS2ORBSLAM.git
génération des fichiers:
#cp /home/bvandepo/orbslam/ORB_SLAM2/Examples/Monocular/ueye1280-BVANDEPO.yaml /home/bvandepo/orbslam/ORB_SLAM2/Examples/Monocular/ueye752-BVANDEPO.yaml #cp /home/bvandepo/catkin_ws/src/ueye_cam/launch/ueye1280_gray.launch /home/bvandepo/catkin_ws/src/ueye_cam/launch/ueye752_gray.launch
roslaunch ueye_cam ueye752_gray.launch
mire en full sur ecran 15“
geeqie /media/HD500GO/zodiac/matlab/miretag/mireTag4_9x9_b11.bmp rosrun camera_calibration cameracalibrator.py --size 8x8 --square 0.027 image:=/camera/image_raw
cd tmp/ tar xvf calibrationdata.tar.gz ost.txt
./CAMERACALIBROS2ORBSLAM -i /tmp/ost.txt -m /home/bvandepo/orbslam/ORB_SLAM2/Examples/Monocular/ueye752-BVANDEPO.yaml -o /home/bvandepo/orbslam/ORB_SLAM2/Examples/Monocular/ueye752-BVANDEPO-calib.yaml
rosrun ORB_SLAM2 Mono /home/bvandepo/orbslam/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/bvandepo/orbslam/ORB_SLAM2/Examples/Monocular/ueye752-BVANDEPO-calib.yaml
pour le noeud ros catkinifié par jojo:
rosrun orb_slam2 Mono /home/bvandepo/orbslam/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/bvandepo/orbslam/ORB_SLAM2/Examples/Monocular/ueye752-BVANDEPO-calib.yaml
génération des fichiers:
#cp /home/bvandepo/catkin_ws/src/ueye_cam/launch/ueye1280_gray.launch /home/bvandepo/catkin_ws/src/ueye_cam/launch/ueye1024_color.launch
roslaunch ueye_cam ueye1024_color.launch
http://wiki.ros.org/image_view/diamondback
rosrun image_view image_view image:=/camera/image_raw
je n'arrive pas à sauver les images en cliquant droit: rosrun image_view image_view image:=/camera/image_raw _filename_format:=frame%04i.png
rosrun ueye_cam_test ueye_cam_test_exe
images sauvées dans /tmp/images
il y a d'autres noeuds: http://wiki.ros.org/uvc_camera et http://wiki.ros.org/usb_cam
cd ~/catkin_ws/src git clone https://github.com/ros-drivers/gscam.git
nécéssaires:
sudo apt-get install libgstreamer0.10-dev gstreamer0.10-plugins-base-apps libgstreamer-plugins-base0.10-dev gstreamer-tools gstreamer0.10-plugins-good
pas nécéssaires:
sudo apt-get install libgstreamer1.0-dev libwebcam0-dev
catkin_make #roscd gscam #cd bin cd ~/catkin_ws/devel/lib/gscam export GSCAM_CONFIG="v4l2src device=/dev/video0 ! video/x-raw-rgb,framerate=30/1 ! ffmpegcolorspace" rosrun gscam gscam rosrun image_view image_view image:=/camera/image_raw
gstreamer sans ros:
gst-launch v4l2src device=/dev/video0 ! video/x-raw-rgb,framerate=25/1, width=640,height=360 ! ffmpegcolorspace ! ximagesink
http://homepages.laas.fr/jpiat/files/
roslaunch src/orbslam2/launch/launch_files.launch voc_path:=(path_to_vocabulary) yaml_path:=(path_to_yaml) bag_path:=(path_to_bag)
exemple:
roslaunch src/orbslam2/launch/launch_files.launch voc_path:=/home/bvandepo/orbslam/ORB_SLAM2/Vocabulary/ORBvoc.txt yaml_path:=/home/bvandepo/orbslam/dataset/jonathan/picam.yaml bag_path:=/home/bvandepo/orbslam/dataset/jonathan/_2017-01-09-00-07-32.bag