WIKI de Bertrand VANDEPORTAELE

Ceci est une ancienne révision du document !

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

—————————————————————– orbslam

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

avec ROS: 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

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 8×8 –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

——————camera ueye usb2 mt9v034—— 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

————–camera ueye couleur usb 2——– 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

——————-webcam————– http://wiki.ros.org/gscam

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

(voir http://stackoverflow.com/questions/28712079/gstreamer-error-pipeline-could-not-be-constructed-no-element-v4l2src)

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