Euclid ORB SLAM Walkthrough

Setup Clone ORB SLAM2 from the repository:

https://github.com/raulmur/ORB_SLAM2

You may need to add the following line to the file “src/ORBextractor.cc” :

You will need to add the following lines to “include/System.h” :

Build ORB SLAM as instructed.

Before building the ROS examples, make sure you have used “sudo rosdep fix-permissions”

and “rosdep init” at least once on your device (with an internet connection). Then build the

ROS examples as instructed in the repository.

Camera calibration In order to use ORB SLAM, you will need to calibrate your camera.

Print out a checkerboard from here:

http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration?action=AttachFile&d

o=view&target=check-108.pdf

On your Euclid, run the camera node:

#include <opencv2/opencv.hpp>

#include <unistd.h>

#include <stdlib.h>

#include <stdio.h>

$ roslaunch realsense_camera lr200m_camera_nodelet.launch

Then execute:

Make sure to put the size of the square on your target, and choose the camera you want to

calibrate.

A calibration GUI will open and you will be needed to move the Euclid in different angles and

distances from the target (make sure you see an indication that the target has been

recognized). Once it captured enough images, you will need to choose “Calibrate” in the

GUI. The program will freeze for several seconds/minutes. After the calculation finishes, you

will be able to click “save” to save the calibration results into a tar file.

Copy the tar file in /tmp/calibrationdata.tar.gz to a more accessible location and open the

ost.yaml file in it.

Make a copy of one of the yaml files in ORB/Examples/Mono/ and name it

<rgbd\mono>_euclid.yaml. Fill in the corresponding fields as shown:

$ rosrun camera_calibration cameracalibrator.py --size 10x8 --square 0.023

image:=/camera/<color\fisheye>/image_raw

Running ORB SLAM Each mode in ORB SLAM requires different camera topics. We have prepared launch files for

the camera for RGBD and Mono.

Open two terminals. In the first one execute:

In the second terminal execute:

After loading the vocabulary you will be able to begin mapping:

$ roslaunch euclid_mono\rgbd_orbslam.launch

$ rosrun ORB_SLAM2 Mono\RGBD <path_to_orb_vocabulary>/ORBvoc.txt

<path_to_calibration_file>