Skip to content

🗺 Generate dense point cloud based on ORB-SLAM, and build indoor navigation map using OctoMap.

License

Notifications You must be signed in to change notification settings

necusjz/IndoorMapping

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

36 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

Indoor Mapping

Generate dense point cloud based on ORB-SLAM, and build indoor navigation map using OctoMap.

By adding a point cloud viewer, we can visualize dense point cloud during simultaneous localization and mapping. We also provide some useful tools in tools/*, such as binary dictionary conversion and octree map conversion.

Installation

There are some prerequisites that need to be installed in advance (all passed on Ubuntu 16.04).

CMake

CMake is an open-source, cross-platform family of tools designed to build, test and package software:

$ sudo apt-get install cmake

GLEW

The OpenGL Extension Wrangler Library (GLEW) is a cross-platform open-source C/C++ extension loading library:

$ sudo apt-get install libglew-dev

Pangolin

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 .

OpenCV

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

Eigen3

Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers and related algorithms:

$ sudo apt-get install libeigen3-dev

g2o

We use modified version of g2o library to perform non-linear optimizations:

$ cd Thirdparty/g2o
$ mkdir build && cd build
$ cmake ..
$ make

DBoW2

We use modified version of DBoW2 library to perform place recognition:

$ cd Thirdparty/DBoW2
$ mkdir build && cd build
$ cmake ..
$ make

Boost

Boost provides free peer-reviewed portable C++ source libraries:

$ sudo apt-get install libboost-all-dev

FLANN

FLANN is a library for performing fast approximate nearest neighbor searches in high dimensional spaces:

$ sudo apt-get install libflann1.8 libflann-dev

Qt

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

VTK

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

PCL

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

OctoMap

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.git
$ cd octomap
$ mkdir build && cd build
$ cmake ..
$ make
$ sudo make install

Dataset

Computer Vision Group - Dataset Download

Usage

$ git clone https://github.com/necusjz/IndoorMapping.git
$ cd IndoorMapping
$ mkdir build && cd build
$ cmake ..
$ make

Evaluation

There are several useful commands and we also provide shell script version in scripts/*.sh.

Run test dataset

$ ./bin/rgbd_tum Vocabulary/ORBvoc.bin tests/TUM1.yaml Dataset/rgbd_dataset_freiburg1_room tests/association/fr1_room.txt

Execute this command, the dense point cloud will be visualized in a viewer like this:

Convert *.pcd to *.ot

$ ./tools/pcd2octomap map.pcd map.ot

Plot estimated difference

$ ./tools/evaluate_ate.py Dataset/rgbd_dataset_freiburg1_room/groundtruth.txt CameraTrajectory.txt --plot result.png

This command will plot absolute trajectory error on a figure like this:

Print all results

$ ./tools/evaluate_ate.py Dataset/rgbd_dataset_freiburg1_room/groundtruth.txt CameraTrajectory.txt --verbose

Contributing

We love contributions! Before submitting a Pull Request, it's always good to start with a new issue first.

License

This repository is licensed under MIT. Full license text is available in LICENSE.

About

🗺 Generate dense point cloud based on ORB-SLAM, and build indoor navigation map using OctoMap.

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published