ORB-SLAM2 Authors: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2).
The original implementation can be found here.
For the original README, please see README_original.md in this repo. For the original orb_slam2_ros, please see this repo.
For the 'Image.msg' publisher, please refer to this repo.
For the PoseStamped.msg subscriber, please refer to this repo.
Pull the docker image on an EC2 machine. The experiment is tested on AMI ami-05829bd3e68bcd415 (North California), with instance type c4.8xlarge and storage around 48GB.
docker pull debbieliang/ros_open:posestamped
Run on four separate terminals
sudo docker run --network host --rm -it debbieliang/ros_open:posestamped
roscore
Subscribe Image.msg, run the ORB_SLAM2 algorithm, and publish PoseStamped.msg.
Run
cd /orb_slam_2_ros/build
source devel/setup.bash
cd ..
roslaunch orb_slam2_ros orb_slam2_r200_mono.launch
If you changed any code, run
cd /orb_slam_2_ros/build
cmake .. -DROS_BUILD_TYPE=Release
make -j
source devel/setup.bash
cd ..
roslaunch orb_slam2_ros orb_slam2_r200_mono.launch
Subscribe PoseStamped.msg from topic /orb_slam2_mono/pose
./orb_slam_2_ros/build/devel/lib/orb_slam2_ros/orb_slam2_ros_pss
Publish the png images in /rgbd_dataset_freiburg1_xyz/rgb through topic /camera/rgb/image_raw
cd /RosImageFolderPublisher
source devel/setup.bash
cd src
rosrun image_folder_publisher image_folder_publisher.py _image_folder:=./../../rgbd_dataset_freiburg1_xyz/rgb _topic_name=/camera/image_raw
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ip-172-31-0-70:44875/
ros_comm version 1.15.9
SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.9
NODES
auto-starting new master
process[master]: started with pid [1974]
ROS_MASTER_URI=http://ip-172-31-0-70:11311/
setting /run_id to 31af6a50-ad06-11eb-9342-4fd7652998b2
process[rosout-1]: started with pid [1984]
started core service [/rosout]```
... logging to /root/.ros/log/31af6a50-ad06-11eb-9342-4fd7652998b2/roslaunch-ip-172-31-0-70-52.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ip-172-31-0-70:40097/
SUMMARY
========
PARAMETERS
* /orb_slam2_mono/ORBextractor/iniThFAST: 20
* /orb_slam2_mono/ORBextractor/minThFAST: 7
* /orb_slam2_mono/ORBextractor/nFeatures: 2000
* /orb_slam2_mono/ORBextractor/nLevels: 8
* /orb_slam2_mono/ORBextractor/scaleFactor: 1.2
* /orb_slam2_mono/camera_cx: 311.43603515625
* /orb_slam2_mono/camera_cy: 248.0950164794922
* /orb_slam2_mono/camera_fps: 30
* /orb_slam2_mono/camera_frame_id: camera_link
* /orb_slam2_mono/camera_fx: 632.7927856445312
* /orb_slam2_mono/camera_fy: 626.8605346679688
* /orb_slam2_mono/camera_k1: -0.09097914397716522
* /orb_slam2_mono/camera_k2: 0.06503549218177795
* /orb_slam2_mono/camera_k3: 0.0
* /orb_slam2_mono/camera_p1: 0.000849052332341671
* /orb_slam2_mono/camera_p2: 0.001785792293958366
* /orb_slam2_mono/camera_rgb_encoding: True
* /orb_slam2_mono/load_calibration_from_cam: False
* /orb_slam2_mono/load_map: False
* /orb_slam2_mono/localize_only: False
* /orb_slam2_mono/map_file: map.bin
* /orb_slam2_mono/min_num_kf_in_map: 5
* /orb_slam2_mono/pointcloud_frame_id: map
* /orb_slam2_mono/publish_pointcloud: True
* /orb_slam2_mono/publish_pose: True
* /orb_slam2_mono/reset_map: False
* /orb_slam2_mono/voc_file: /orb_slam_2_ros/o...
* /rosdistro: noetic
* /rosversion: 1.15.9
NODES
/
orb_slam2_mono (orb_slam2_ros/orb_slam2_ros_mono)
ROS_MASTER_URI=http://localhost:11311
process[orb_slam2_mono-1]: started with pid [60]
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.
OpenCV version : 4.2.0
Major version : 4
Minor version : 2
Subminor version : 0
Input sensor was set to: Monocular
Loading ORB Vocabulary.
Vocabulary loaded!
Camera Parameters:
- fx: 632.793
- fy: 626.861
- cx: 311.436
- cy: 248.095
- k1: -0.0909791
- k2: 0.0650355
- p1: 0.000849052
- p2: 0.00178579
- fps: 30
- bf: 4.59149e-41
- color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
- Number of Features: 2000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
Enable localization only: false
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
Map point vector is empty!
New Map created with 118 points
[ WARN] [1620153702.356519172]: "camera_link" passed to lookupTransform argument target_frame does not exist.
[ WARN] [1620153702.358269727]: "camera_link" passed to lookupTransform argument target_frame does not exist.
[ WARN] [1620153703.273954453]: "camera_link" passed to lookupTransform argument target_frame does not exist.
(The first Map point vector is empty! should appear after Terminal D starts publishing)
[ INFO] [1620153702.358662571]: Received pose: 0x5616e6fbc8f0
[ INFO] [1620153703.274365240]: Received pose: 0x5616e6fbcef0
[ INFO] [1620153704.262915530]: Received pose: 0x5616e6fbd2c0
(Should appear after New Map created with ... points on terminal B)
[INFO] [1620153666.206704]: [image_folder_publisher] (topic_name) Publishing Images to topic /camera/rgb/image_raw
[INFO] [1620153666.209049]: [image_folder_publisher] (publish_rate) Publish rate set to 1 hz
[INFO] [1620153666.210476]: [image_folder_publisher] (sort_files) Sort Files: True
[INFO] [1620153666.211829]: [image_folder_publisher] (frame_id) Frame ID set to camera
[INFO] [1620153666.213169]: [image_folder_publisher] (loop) Loop 1 time(s) (set it -1 for infinite)
[INFO] [1620153666.218204]: [image_folder_publisher] Reading images from ./../../rgbd_dataset_freiburg1_xyz/rgb
[INFO] [1620153666.256244]: [image_folder_publisher] Published ./../../rgbd_dataset_freiburg1_xyz/rgb/1305031102.175304.png
[INFO] [1620153667.232531]: [image_folder_publisher] Published ./../../rgbd_dataset_freiburg1_xyz/rgb/1305031102.211214.png
[INFO] [1620153668.231347]: [image_folder_publisher] Published ./../../rgbd_dataset_freiburg1_xyz/rgb/1305031102.243211.png