install usb_cam with: sudo apt-get install ros-indigo-usb-cam
copy the launch file: /opt/ros/indigo/share/usb_cam/launch/usb_cam-test.launch to an editable location and change video_device to /dev/video1 to use the external camera
run roslaunch ~/usb_cam-test.launch to start it
add: export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/abhineet/ORB_SLAM2/Examples/ROS export LIBRARY_PATH=${LIBRARY_PATH}:/home/abhineet/ORB_SLAM2/lib:/home/abhineet/ORB_SLAM2/Thirdparty/DBoW2/lib:/home/abhineet/ORB_SLAM2/Thirdparty/g2o/lib export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/home/abhineet/ORB_SLAM2/lib:/home/abhineet/ORB_SLAM2/Thirdparty/DBoW2/lib:/home/abhineet/ORB_SLAM2/Thirdparty/g2o/lib to bashrc
---> run orb slam with:: <!--- rosrun ORB_SLAM2 Mono Vocabulary/ORBvoc.txt Examples/Monocular/mono.yaml /camera/image_raw:=usb_cam/image_raw ---> using params:
Camera.fx: 674.828820 Camera.fy: 671.076483 Camera.cx: 313.837639 Camera.cy: 249.457471
Camera.k1: -0.074566 Camera.k2: 0.099668 Camera.p1: -0.000740 Camera.p2: -0.002609 Camera.k3: 0.000000
Camera.fps: 30.0
Camera.RGB: 1
gmapping launch location: <!--- /opt/ros/indigo/share/turtlebot_navigation/launch/gmapping_demo.launch ---> run orb slam on KITTI with: <!--- ./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /home/abhineet/KITTI/00 ./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTI04-12.yaml /home/abhineet/KITTI/05 ---> run on TUM-RGBD with: <!--- ./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM3.yaml /home/abhineet/TUM-RGBD/rgbd_dataset_freiburg3_walking_halfsphere ---> navigate using the map and visualize with: <!--- roslaunch turtlebot_gazebo turtlebot_world.launch ---> or <!--- roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=/opt/ros/indigo/share/turtlebot_gazebo/worlds/empty.world ---> for empty world <!--- roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/abhineet/ORB_SLAM2/grid_map.yaml roslaunch turtlebot_rviz_launchers view_navigation.launch ---> running orb slam with gmapping: <!--- rosrun ORB_SLAM2 Mono Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /home/abhineet/KITTI/00 rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node rosrun gmapping slam_gmapping rosrun rviz rviz ---> Displays->Add->Map set Topic to /map
get all map points for the rosbag: <!--- rosrun ORB_SLAM2 Mono Vocabulary/ORBvoc.txt Examples/Monocular/demo_cam.yaml /camera/image_raw:=usb_cam/image_raw ---> start publisher with dataset: <!--- rosrun ORB_SLAM2 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /home/abhineet/KITTI/00 0 rosrun ORB_SLAM2 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/TUM3.yaml /home/abhineet/TUM-RGBD/rgbd_dataset_freiburg3_walking_halfsphere ---> start publisher with camera: <!--- rosrun ORB_SLAM2 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/mono.yaml 0 ---> start publisher with default topic (/camera/image_raw): <!--- rosrun ORB_SLAM2 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/mono.yaml -1 ---> start publisher with custom topic: <!--- rosrun ORB_SLAM2 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/demo_cam.yaml -1 /usb_cam/image_raw ---> rosrun ORB_SLAM2 Monosub <scale_factor> <resize_factor> <cloud_max_x> <cloud_min_x> <cloud_max_z> <cloud_min_z> <free_thresh> <occupied_thresh> <use_local_counters> <visit_thresh> <use_gaussian_counters> <use_boundary_detection> <use_height_thresholding> <normal_thresh_deg> <enable_goal_publishing> <show_camera_location>
start subscriber on kitti 00: <!--- rosrun ORB_SLAM2 Monosub 5 3 29 -25 48 -12 0.55 0.50 1 5 rosrun ORB_SLAM2 Monosub 10 1 29 -25 48 -12 0.55 0.50 1 5 rosrun ORB_SLAM2 Monosub 10 1 29 -25 48 -12 0.45 0.40 1 5 1 0 1
rosrun ORB_SLAM2 Monosub 1 3 29 -25 48 -12 0.55 0.50 1 5 ---> with Gaussian counters: <!--- rosrun ORB_SLAM2 Monosub 10 1 29 -25 48 -12 0.55 0.50 1 5 1 ---> with Gaussian counters and contour detecton <!--- rosrun ORB_SLAM2 Monosub 10 1 29 -25 48 -12 0.55 0.50 1 5 1 1 ---> with contour and without gaussian counters <!--- rosrun ORB_SLAM2 Monosub 10 1 29 -25 48 -12 0.55 0.50 1 5 0 1 ---> with Gaussian counters and ground point filtering, no contour detection and normal thresholding of 75 degrees: <!--- rosrun ORB_SLAM2 Monosub 10 1 29 -25 48 -12 0.55 0.50 1 5 1 0 1 75 rosrun ORB_SLAM2 Monosub 10 1 29 -25 48 -12 0.55 0.50 1 5 0 0 0 75 rosrun ORB_SLAM2 Monosub 10 1 29 -25 48 -12 0.55 0.50 1 5 1 0 1 1 ---> without Gaussian counters and with ground point filtering and no contour: <!--- rosrun ORB_SLAM2 Monosub 10 1 29 -25 48 -12 0.55 0.50 1 5 0 0 1 ---> start subscriber on rosbag: <!--- rosrun ORB_SLAM2 Monosub 30 5 2 -2 2 -2 0.55 0.50 1 5 rosrun ORB_SLAM2 Monosub 30 2 6 -6 6 -6 0.55 0.50 1 5 ---> with camera location <!--- rosrun ORB_SLAM2 Monosub 20 1 10 -15 20 -10 0.55 0.50 1 5 1 1 1 75 rosrun ORB_SLAM2 Monosub 20 1 10 -15 20 -10 0.55 0.50 1 5 1 0 1 75 rosrun ORB_SLAM2 Monosub 20 1 10 -15 20 -10 0.55 0.50 1 5 0 0 1 75 rosrun ORB_SLAM2 Monosub 10 2 10 -15 20 -10 0.55 0.50 1 5 0 1 0 ---> running rosbag of recording: <!--- rosbag play "/media/abhineet/Win 8/bags/2017-04-03-20-35-36.bag" -r 0.5 rosbag play "/media/abhineet/Win 8/bags/2017-04-09-22-08-04.bag" ---> faulty rosbag <!--- rosbag play "/media/abhineet/Win 8/bags/2017-04-03-13-37-07.bag" ---> running rviz with preloaded map display and topic name: <!--- rosrun rviz rviz -d grid_map.rviz rosrun rviz rviz -d navigation.rviz ---> test sequence to get goal publishing thing working: <!--- roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=/opt/ros/kinetic/share/turtlebot_gazebo/worlds/empty.world roslaunch amcl_demo.launch roslaunch view_navigation.launch rosrun robot_pose_publisher robot_pose_publisher ---> record a rosbag of orbslam and grid mapping: <!--- rosbag record pts_and_pose all_kf_and_pts map map_metadata move_base_simple/goal initialpose --output-name=rb_kitti00_gauss_height.bag rosbag record pts_and_pose all_kf_and_pts --output-name=rb_csc3_pub.bag ---> play this rosbag <!--- rosbag play ~/rb_kitti00_gauss_height.bag rosbag play ~/rb_kitti00_pub.bag rosbag play ~/rb_csc3_pub.bag rosbag play ~/rb_csc3_pub_2.bag rosbag play ~/rb_csc3_pub_3.bag ---> record and play the subscriber rosbag <!--- rosbag record map map_metadata --output-name=rb_kitti00_sub.bag rosbag record map map_metadata --output-name=rb_csc_sub.bag rosbag play ~/rb_kitti00_sub_f0_55_o0_50_l1_v5_g1_b1_h1_n45_c350.bag rosbag play ~/rb_csc_sub_f0_55_o0_50_l1_v5_g1_b1_h1_n75_c350.bag --->