root / rgbdslam / README @ master
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1 | 9240aaa3 | Alex | PREAMBLE |
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2 | |||
3 | This release of RGBDSLAM succeeds our entry at the ROS 3D contest |
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4 | (see http://www.ros.org/wiki/openni/Contests/ROS%203D). |
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5 | |||
6 | There have been many changes, mainly |
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7 | - Performance improvments w.r.t accuracy and robustness of registration |
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8 | - Performance improvments w.r.t computation time |
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9 | - A more convenient user interface with internal visualization |
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10 | - Convenience features, e.g., saving to pcd/ply file, node deletion and many more |
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11 | - Use of g2o as SLAM Backend (formerly hogman) |
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12 | - The ability to run without graphics card/X-Server |
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13 | |||
14 | |||
15 | INSTALLATION |
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16 | |||
17 | The following instructions assume you have ROS Diamondback installed in the |
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18 | Desktop-Full configuration. Otherwise please refer to |
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19 | http://www.ros.org/wiki/ROS/Installation for instructions how to install ROS. |
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20 | RGBDSLAM has been developed and tested on Ubuntu only. |
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21 | |||
22 | |||
23 | Install openni-kinect. On ubuntu use the package manager: |
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24 | $ sudo aptitude install ros-diamondback-openni-kinect |
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25 | |||
26 | Checkout g2o somewhere in your $ROS_PACKAGE_PATH: |
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27 | $ svn co https://code.ros.org/svn/ros-pkg/stacks/vslam/trunk/g2o |
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28 | |||
29 | To make g2o and install its system dependencies use |
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30 | rosmake --rosdep-install |
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31 | If that fails to resolve the system dependencies use (on ubuntu) |
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32 | $ sudo aptitude install libsuitesparse-dev libcsparse2.2.3 |
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33 | |||
34 | Checkout the RGBDSLAM source code somewhere in your $ROS_PACKAGE_PATH |
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35 | $ svn co https://svn.openslam.org/data/svn/rgbdslam/trunk rgbdslam |
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36 | |||
37 | Compile rgbdslam and dependencies: |
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38 | $ rosmake --rosdep-install rgbdslam |
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39 | |||
40 | Optionally, you might want to install perception_pcl_addons (debian package: |
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41 | ros-diamondback-perception-pcl-addons) which includes pcd_viewer, a viewer for |
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42 | the file format used by RGBDSLAM to store registered point clouds. If you |
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43 | want to process the point cloud you can save to a ply file and use meshlab |
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44 | (debian-package: meshlab). |
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45 | |||
46 | |||
47 | USAGE with GUI |
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48 | |||
49 | To start RGBDSLAM launch |
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50 | roslaunch rgbdslam kinect+rgbdslam.launch |
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51 | |||
52 | Alternatively you can start the openni nodes and RGBDSLAM separately, e.g.: |
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53 | roslaunch openni_camera openni_node.launch |
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54 | rosrun rgbdslam rgbdslam |
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55 | |||
56 | To capture models either press space to start recording a continuous stream |
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57 | or press enter to record a single frame. To reduce data redundancy, sequential |
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58 | frames from (almost) the same position are not included in the final model. |
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59 | The 3D visualization always shows the globally optimized model. Neighbouring |
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60 | points are triangulated except at missing values and depth jumps. |
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61 | |||
62 | USAGE without GUI |
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63 | |||
64 | The RosUI is an alternative to the Grapical_UI to run the rgbdslam headless, for example on the PR2. |
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65 | rgbdslam can then be used via service-calls. |
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66 | The possible calls are: |
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67 | - /rgbdslam/ros_ui {reset, quick_save, save_all, save_individual, save_trajectory, send_all, delete_frame} |
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68 | - /rgbdslam/ros_ui_b {pause, record} {true, false} |
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69 | - /rgbdslam/ros_ui_f {set_max} {float} |
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70 | |||
71 | To start the rgbdslam headless use the rgbdslam_headless.launch: |
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72 | roslaunch rgbdslam rgbdslam_headless.launch |
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73 | capture single frames via: |
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74 | rosservice call /rgbdslam/ros_ui frame |
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75 | capture a stream of data: |
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76 | rosservice call /rgbdslam/ros_ui_b pause false |
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77 | send point clouds with computed transformations (e.g., to rviz or octomap_server): |
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78 | rosservice call /rgbdslam/ros_ui send_all |
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79 | save the date using one of the following: |
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80 | all pointclouds in one file quicksave.pcd in rgbdslam/bin-directory: |
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81 | rosservice call /rgbdslam/ros_ui save_all |
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82 | every pointcloud in its own file in rgbdslam/bin-directory: |
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83 | rosservice call /rgbdslam/ros_ui save_individual |
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84 | |||
85 | /rgbdslam/ros_ui: |
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86 | -reset resets the graph, delets all nodes (refreshes only when capturing new images) |
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87 | -quick_save, save_all saves all pointclouds in one file quicksave.pcd in rgbdslam/bin-directory |
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88 | -save_individual saves every scan in its own file in rgbdslam/bin-directory |
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89 | -send_all sends all pointclouds to /rgbdslam/transformed_cloud (can be visualized with rviz) |
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90 | -delete_frame delete the last frame from the graph (refreshes only when capturing new images) |
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91 | |||
92 | /rgbdslam/ros_ui_b: |
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93 | -pause pauses or resumes the capturing of images |
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94 | -record pauses or stops the recording of bag-files, can be found in the rgbdslam/bin-directory |
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95 | |||
96 | /rgbdslam/ros_ui_f: |
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97 | -set_max filters out all datapoints further away than this value (in cm, only for saving to files) |
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98 | |||
99 | FURTHER HELP |
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100 | |||
101 | Here are some known issues: |
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102 | 1. If you have issues compiling, make sure you removed any older version |
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103 | of RGBDSLAM from your $ROS_PACKAGE_PATH |
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104 | 2. RGBDSLAM needs Diamondback. Make sure that neither your $PATH nor |
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105 | $ROS_PACKAGE_PATH contains "boxturtle", "cturtle" or "unstable". |
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106 | 3. If you are located in Germany and get errors loading the saved ply files |
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107 | into meshlab, try switching to U.S. locale or replace the decimal point with |
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108 | a comma in your .ply file |
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109 | 4. To speed up compile times consider to use "export ROS_PARALLEL_JOBS=-j<#cpus>" |
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110 | before rosmake, but you should have lots of memory as gcc may take up to |
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111 | 2GB for four parallel jobs. |
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112 | |||
113 | If you have questions regarding installation or usage of RGBDSLAM please refer |
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114 | to http://answers.ros.org/questions/?tags=RGBDSLAM |
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115 | For further questions, suggestions or to submit patches, please contact |
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116 | Felix Endres (endres@informatik.uni-freiburg.de) |
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117 | |||
118 | Apart from this manual, detailed code documentation can be created using |
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119 | rosdoc ("rosrun rosdoc rosdoc rgbdslam"), which will create a "doc" folder |
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120 | in your current directory. |
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121 | |||
122 | |||
123 | EXPERIMENTAL FEATURES |
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124 | |||
125 | The following features can be activated in CMakeLists.txt, but are highly |
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126 | experimental and therefore neither guaranteed to work nor supported in case |
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127 | they do not. |
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128 | |||
129 | SIFTGPU: |
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130 | SiftGPU uses (in our case) CUDA, which needs a new NVidia GPU (see |
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131 | http://www.nvidia.com/object/cuda_gpus.html). For installing the development |
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132 | drivers and the CUDA SDK you can use the following tutorial: |
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133 | http://sublimated.wordpress.com/2011/03/25/installing-cuda-4-0-rc-on-ubuntu-10-10-64-bit/ |
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134 | or for ubuntu 10.04: |
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135 | http://ubuntuforums.org/showthread.php?t=1625433 (tested on Ubuntu 10.04 x64) |
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136 | To use SiftGPU you should install "libdevil-dev". |
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137 | |||
138 | Additional compiling information can be changed in |
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139 | external/siftgpu/linux/makefile. |
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140 | |||
141 | GICP |
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142 | Generalized ICP can be activated for refining the registration. For more |
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143 | information see http://stanford.edu/~avsegal/generalized_icp.html |
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146 | LICENSE INFORMATION |
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147 | |||
148 | This software is distributed in the hope that it will be useful, but WITHOUT |
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149 | ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS |
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150 | FOR A PARTICULAR PURPOSE. The authors allow the users to use and modify the |
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151 | source code for their own research. Any commercial application, redistribution, |
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152 | etc has to be arranged between users and authors individually. |
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153 | |||
154 | RGBDSLAM is licenced under GPL v.3. |