This indoor mapping system is based on ORB-SLAM2. Add point cloud map module, you can visualize your point cloud map during the SLAM process. We also provide some conversion tools, such as binary dictionary and octree map (IndoorMapping/tools/*).
Install some necessary dependencies for system operation, we have tested in Ubuntu 16.04.
CMake is an open-source, cross-platform family of tools designed to build, test and package software.
sudo apt-get install cmake
The OpenGL Extension Wrangler Library (GLEW) is a cross-platform open-source C/C++ extension loading library.
sudo apt-get install libglew-dev
We use Pangolin for visualization and user interface.
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build && cd build
cmake ..
cmake --build .
We use OpenCV to manipulate images and features.
sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev libjpeg-dev libtiff5-dev libjasper-dev libopenexr-dev libtbb-dev python-numpy python-matplotlib
cd opencv-3.2.0
mkdir build && cd build
cmake ..
make
sudo make install
Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
sudo apt-get install libeigen3-dev
We use modified version of g2o library to perform non-linear optimizations.
cd Thirdparty/g2o
mkdir build && cd build
cmake ..
make
We use modified version of DBoW2 library to perform place recognition.
cd Thirdparty/DBoW2
mkdir build && cd build
cmake ..
make
Boost provides free peer-reviewed portable C++ source libraries.
sudo apt-get install libboost-all-dev
FLANN is a library for performing fast approximate nearest neighbor searches in high dimensional spaces.
sudo apt-get install libflann1.8 libflann-dev
Qt is the faster, smarter way to create innovative devices, modern UIs & applications for multiple screens.
chmod +x qt-opensource-linux-x64-5.8.0.run
./qt-opensource-linux-x64-5.8.0.run
The Visualization Toolkit (VTK) is an open-source, freely available software system for 3D computer graphics, image processing, and visualization.
cd VTK-8.1.1
mkdir build && cd build
cmake -DVTK_QT_VERSION:STRING=5 -DQT_QMAKE_EXECUTABLE:PATH=[PATH]/Qt5.8.0/5.8/gcc_64/bin/qmake -DVTK_Group_Qt:BOOL=ON -DCMAKE_PREFIX_PATH:PATH=[PATH]/Qt5.8.0/5.8/gcc_64/lib/cmake -DBUILD_SHARED_LIBS:BOOL=ON ..
make
The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.
cd pcl-pcl-1.8.1
mkdir build && cd build
cmake ..
make
sudo make install
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++ particularly suited for robotics.
sudo apt-get install libqglviewer-dev-qt4
git clone https://github.com/OctoMap/octomap
cd octomap
mkdir build && cd build
cmake ..
make
sudo make install
Computer Vision Group - Dataset Download
git clone https://github.com/ichigoi7e/IndoorMapping.git
cd IndoorMapping
mkdir build && cd build
cmake ..
make
There are some useful manual commands, and we also provide some scripts to automate (IndoorMapping/*.sh).
./bin/rgbd_tum Vocabulary/ORBvoc.bin test/TUM1.yaml Dataset/rgbd_dataset_freiburg1_room test/associations/fr1_room.txt
After this command, you can see the dense point cloud displayed in the viewer, like this:
./tools/pcd2octomap map.pcd map.ot
./tools/evaluate_ate.py Dataset/rgbd_dataset_freiburg1_room/groundtruth.txt CameraTrajectory.txt --plot result.png
This command will plot the first and the aligned second trajectory to an image, like this:
./tools/evaluate_ate.py Dataset/rgbd_dataset_freiburg1_room/groundtruth.txt CameraTrajectory.txt --verbose
- Add point cloud map module.
- Add binary dictionary conversion tool.
- Add octree map conversion tool.