Python-RESLAM一种实时稳健基于边缘的SLAM系统

# RESLAM: A real-time robust edge-based SLAM system **Please note that the code is still in the testing phase and I plan to update some parts soon!** In this work, we present **RESLAM**, a robust edge-based SLAM system for RGBD sensors. Edges are more stable under varying lighting conditions than raw intensity values, which leads to higher accuracy and robustness in scenes, where feature- or photoconsistency-based approaches often fail. The results show that our method performs best in terms of trajectory accuracy for most of the sequences indicating that edges are suitable for a multitude of scenes. ## If you use this work, please cite any of the following publications: * **RESLAM: A real-time robust edge-based SLAM system**, Schenk Fabian, Fraundorfer Friedrich, ICRA 2019, [pdf](https://github.com/fabianschenk/fabianschenk.github.io/raw/master/files/schenk_icra_2019.pdf) * **Combining Edge Images and Depth Maps for Robust Visual Odometry**, Schenk Fabian, Fraundorfer Friedrich, BMVC 2017, [pdf](https://github.com/fabianschenk/fabianschenk.github.io/raw/master/files/schenk_bmvc_2018.pdf),[video](https://youtu.be/uj3rRyqSEnQ) * **Robust Edge-based Visual Odometry using Machine-Learned Edges**, Schenk Fabian, Fraundorfer Friedrich, IROS 2017, [pdf](https://github.com/fabianschenk/fabianschenk.github.io/raw/master/files/schenk_iros_2017.pdf), [video](https://youtu.be/PUTV9vsdpbA) ## License RESLAM is licensed under the [GNU General Public License Version 3 (GPLv3)](http://www.gnu.org/licenses/gpl.html). If you want to use this software commercially, please contact us. ## Building the framework So far, the framework has only been built and tested on the following system. ### Requirements * [Ubuntu 16.04, 15.10, 17.04](https://www.ubuntu.com/) * [OpenCV > 3](http://opencv.org/) * [Eigen > 3.3](http://eigen.tuxfamily.org/index.php?title=Main_Page) [Sophus](https://github.com/strasdat/Sophus) is now part of this repository (in thirdparty/Sophus). Building on Windows and backwards compatibility might be added in the future. ### Optional Set the optional packages in the cmake-gui * [Pangolin](https://github.com/stevenlovegrove/Pangolin) (for graphical viewer) ### Build commands ```bash git clone https://github.com/fabianschenk/RESLAM cd RESLAM mkdir build cd build cmake . .. make -j ``` ## How to reproduce the results from the paper **If you enable multi-threading, results might differ a bit since float additions are not executed in the same order during each run!** ### [TUM dataset](https://vision.in.tum.de/data/datasets/rgbd-dataset) Download the sequence you want to test and specify the "associate.txt" file in the dataset_tumX.yaml settings file. To generate an "associate.txt" file, first download the "associate.py" script from [TUM RGBD Tools](https://svncvpr.in.tum.de/cvpr-ros-pkg/trunk/rgbd_benchmark/rgbd_benchmark_tools/src/rgbd_benchmark_tools/) and then run ```bash python associate.py DATASET_XXX/rgb.txt DATASET_XXX/depth.txt > associate.txt ``` in the folder, where your dataset is. In the "RESLAM" directory: ```bash build/RESLAM config_files/reslam_settings.yaml config_files/dataset_tum1.yaml ``` For evaluation of the absolute trajectory error (ATE) and relative pose error (RPE) download the corresponding scripts from [TUM RGBD Tools](https://svncvpr.in.tum.de/cvpr-ros-pkg/trunk/rgbd_benchmark/rgbd_benchmark_tools/src/rgbd_benchmark_tools/). ## Supported Sensors Support for other sensors such as Orbbec Astra Pro and Intel RealSense will follow in the next weeks. <!--- REVO supports three different sensors at the moment: * [Orbbec Astra Pro Sensor](https://orbbec3d.com/product-astra-pro/) * [Orbbec Astra Sensor](https://orbbec3d.com/product-astra/) * [Intel Realsense ZR300 (other versions are untested!)](https://click.intel.com/intelr-realsensetm-development-kit-featuring-the-zr300.html) For the Intel sensor set "WITH_REALSENSE", for the Orbbec Astra Pro set "WITH_ORBBEC_FFMPEG" (recommended) or "WITH_ORBBEC_UVC" (not recommended, requires third party tools) and for the non-pro Orbbec Astra set "WITH_ORBBEC_OPENNI"! **Note:** Make sure that you set the USB rules in a way that the sensor is accessible for every user (default is root only). REVO can be compiled for all three sensors only if WITH_REALSENSE, WITH_ORBBEC_FFMPEG and WITH_ORBBEC_OPENNI are set. If WITH_ORRBEC_UVC is set, there is a conflict with the librealsense! To solve this issue, use WITH_ORBBEC_FFMPEG! The sensor to be used is determined from the INPUT_TYPE set in the second config file. For Orbbec Astra Pro INPUT_TYPE: 1, for Intel Realsense INPUT_TYPE: 2 and for Orbbec Astra INPUT_TYPE: 3. Example config files for all three sensors can be found in the config directory! ### Intel RealSense ZR300 Install [librealsense](https://github.com/IntelRealSense/librealsense), set the intrinsic parameters in the config file. This framework was tested with the Intel RealSense ZR300. ### Orbbec Astra Sensor The (non-pro) Orbbec Astra Sensor can be fully accessed by Orbbec's OpenNI driver. First [download the openni driver](https://orbbec3d.com/develop/#registergestoos) and choose the correct *.zip file that matches your architecture, e.g. OpenNI-Linux_x64-2.3.zip. Extract it and copy libOpenNI2.so and the "Include" and "OpenNI2" folder to REVO_FOLDER/orbbec_astra_pro/drivers. ### Orbbec Astra Pro Sensor #### With FFMPEG The standard OpenNI driver can only access the depth stream of the [Orbbec Astra Pro Sensor](https://orbbec3d.com/product-astra-pro/), thus we have to access the color stream via FFMPEG. Install the newest FFMPEG version ```bash sudo apt install ffmpeg ``` or download from [FFMPEG Github](https://www.ffmpeg.org/download.html). #### With LibUVC (not recommended) The standard OpenNI driver can only access the depth stream of the [Orbbec Astra Pro Sensor](https://orbbec3d.com/product-astra-pro/), thus we have to access the color stream like a common webcam. *Note: We use libuvc because the standard webcam interface of [OpenCV](http://opencv.org/) buffers the images and doesn't always return the newest image.* First [download the openni driver](https://orbbec3d.com/develop/#registergestoos) and choose the correct *.zip file that matches your architecture, e.g. OpenNI-Linux_x64-2.3.zip. Extract it and copy libOpenNI2.so and the "Include" and "OpenNI2" folder to REVO_FOLDER/orbbec_astra_pro/drivers. Then install [Olaf Kaehler's fork of libuvc](https://github.com/olafkaehler/libuvc) by performing the following steps in the main directory. ```bash cd ThirdParty git clone https://github.com/olafkaehler/libuvc cd libuvc mkdir build cd build cmake . .. make -j make install ``` ## Troubleshooting ### Sophus There was a problem with the old REVO version and a new Sophus version that introduced orthogonality checks for rotation matrices. If you face such an error, simply check out the current version of REVO. ### Orbbec with LIBUVC and Intel Realsense If WITH_ORRBEC_UVC is set, there is a conflict with the librealsense! To solve this issue, use WITH_ORBBEC_FFMPEG!-->