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!

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

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

`ujjval@ujjval-VPCEH18FG:~/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. `

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.

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.

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.

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

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!

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.

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!

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.

I am in doubt in how to use ORB_SLAM2 correctly with the odometry dataset in color (65 GB) located in this link.

Mainly because we have in calibration file P0, P1, P2 and P3. P2 and P3 are the projections matrices for the cameras in color, using as reference the gray left camera. More details of the setup used in KITTI dataset located in this link.

An example of one calib containing these matrices is shown below. We can observe that they have the same focal lengths and centers, but when we compare the last column of P2 (left color camera) and P0 (left gray camera), P2 have other values that are not used in the config file of ORB_SLAM2. We only use the first value that corresponds to Camera.bf (stereo baseline times fx).

So I think I would have to apply some transformations and maybe in the groundtruth file, but I don't know how.

P0: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 0.000000000000e+00 0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00

P1: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 -3.798145000000e+02 0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00

P2: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 4.688783000000e+01 0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 1.178601000000e-01 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 6.203223000000e-03

P3: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 -3.334597000000e+02 0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 1.930130000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 3.318498000000e-03

Thanks in advance!!

I had successfully built ORB SLAM 2, and I want to run the Monocular example. I used the command:

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/$USER/Downloads/rgbd_dataset_freiburg1_xyz

to run the mono_tum executable on the given data set, but I get the following error:

no such file or directory: ./Examples/Monocular/mono_tum

What should I do ?

hello! does ORB_SLAM2 support ROS2 ? or just ROS1?

if "yes" how to build nodes? i receive this:

al@al:~/ORB_SLAM2$ ./build_ros.sh 
Building ROS nodes
mkdir: cannot create directory ‘build’: File exists
CMake Warning (dev) in CMakeLists.txt:
  No project() command is present.  The top-level CMakeLists.txt file must
  contain a literal, direct call to the project() command.  Add a line of
  code such as

    project(ProjectName)

  near the top of the file, but after cmake_minimum_required().

  CMake is pretending there is a "project(Project)" command on the first
  line.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Error at CMakeLists.txt:2 (include):
  include could not find load file:

    /core/rosbuild/rosbuild.cmake


CMake Error at CMakeLists.txt:4 (rosbuild_init):
  Unknown CMake command "rosbuild_init".

i know that it is because i use colcon build instead catkin. but may be it could be fixed ?

I would like to publish the map points to a /Mono/PointCloud2 topic, but I don't where to find them.

I have been looking at here but when I try to install the node, it crashes.

I could get the mappoint in the interface ORB_SLAM2 gives us.

I know the MapPoints are generated here and the header is here, but i would like to create a publisher to publish them in a /Mono/PointCloud2 topic.

Does any one help me please?

thank you all :D

Hi! I want to add an INS to tf which will transform pointcloud from ORB SLAM2 + ROS to real world coordinate. My idea is to do a transformation so that the INS is at the rotational center of the robot.

My tf_tree looks like this: INS -> map -> base_link -> camera_link

My problem - despite the set transformation, the point cloud is saved in the orb slam system, not in the real coordinate system with INS. For my future work I have to get point cloud with world coordinates in ECEF.

Has anyone ever had this problem or can give me some advice?

Hi, I have install eigen 3.4.0. However there is some error when i build this project with build.sh error log: /usr/local/include/eigen3/Eigen/src/Core/SkewSymmetricMatrix3.h:54:13: error: no template named 'SkewSymmetricMatrix3' typedef SkewSymmetricMatrix3 PlainObject; ^ /usr/local/include/eigen3/Eigen/src/Core/SkewSymmetricMatrix3.h:125:44: error: no template named 'SkewSymmetricWrapper'; did you mean '::Eigen::SkewSymmetricBase'? using SkewSymmetricProductReturnType = SkewSymmetricWrapper<const EIGEN_CWISE_BINARY_RETURN_TYPE( ^ /usr/local/include/eigen3/Eigen/src/Core/SkewSymmetricMatrix3.h:34:7: note: '::Eigen::SkewSymmetricBase' declared here class SkewSymmetricBase : public EigenBase ^