pwn0n/orbslam_mapsave

ORB_SLAM2 with Map Save/Load Function. Without ROS Environment

ORB-SLAM2

The Authors of the Original Version: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2)

And this version of ORB-SLAM 2 is contributing on the fork of hangqiu's ORB_SLAM2

What's new?

1.Add the Map Save/Load Function

Add a Save Map Button on The Map Viewer Window.

2.Change the Way of Inputting Parameters Files by Reading the Setting.yaml File.

3.Boost the Speed of reading the ORB Vocabulary Files

Either the .bin File or .txt File is ok, It Will Reading the File in a Proper Way Automactilly.

4.It Can Run without ROS Environment.

Add a Shut Down Button on The Map Viewer Window.

#1. License

ORB-SLAM2 is released under a GPLv3 license. For a list of all code/library dependencies (and associated licenses), please see Dependencies.md.

For a closed-source version of ORB-SLAM2 for commercial purposes, please contact the authors: orbslam (at) unizar (dot) es.

#2. Prerequisites We have tested the library in Ubuntu 12.04 and 14.04, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.

C++11 or C++0x Compiler

We use the new thread and chrono functionalities of C++11.

Pangolin

We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

OpenCV

We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Required at leat 2.4.3. Tested with OpenCV 2.4.11.

Eigen3

Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.

BLAS and LAPACK

BLAS and LAPACK libraries are requiered by g2o (see below). On ubuntu:

sudo apt-get install libblas-dev
sudo apt-get install liblapack-dev

DBoW2 and g2o (Included in Thirdparty folder)

We use modified versions of the DBoW2 library to perform place recognition and g2o library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the Thirdparty folder.

#3. Building ORB-SLAM2

Clone the repository:

git clone https://github.com/PWN0N/ORBSLAM_MapSave.git ORB_SLAM2

We provide a script build.sh to build the Thirdparty libraries and ORB-SLAM2. Please make sure you have installed all required dependencies (see section 2). Execute:

cd ORB_SLAM2
chmod +x build.sh
./build.sh

This will create libORB_SLAM.so at lib folder and the executables Monocular, in Examples folder.

orbslam_mapsave's Issues

Can't find the way to run the loadmap mode

Hello there,I got some problem after I install your code. I can't use the order:"rosrun ORB_SLAM2 Monocular /home/nathan/....."to run it .Is that different with the orginal edition of ORB_SLAM2 to control it.
Wish I can get your result soon. Please PLZ


Is that right way to run it ??

Segmentation Fault

Hi Thanks for your effort to build map save functionality to ORB SLAM.

I have built it it was working at the beginning but now I am receiving this error when I try to save map

"QObject::~QObject: Timers cannot be stopped from another thread
Segmentation fault (core dumped)"

Do you know how to fix it?

thanks

error report

Thank you for sharing your code。
When i was compiling the code, i found a error . you miss the lib file in Thirdparty/g2o/.

Map Load Problem

Hello,I met a problem when load map,it showed message like this:

Could you tell me what may cause such a problem?
I will be grateful for your help?

Compile not pass

tring to load map

I think your project makes a lot of sense. When I am using the project，i try to load the map ,The program crashed.

Do you know why?

'std::length_error'

Hi @PWN0N the Map/save feature works great for small datasets. I saved the map of a 4000 frames dataset and was trying the map in another 687 frames. It worked well earlier when map was saved with 1000 frames. Could you please help me solve this issue.

No. of Images Loaded687

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Monocular

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

/home/orb_Shubham/mapsave-load/edit-orb/ORB_SLAM2/Examples/Monocular/Slam_latest_Map.bin
{INFO}mspMapPoints size = 17399
{INFO}mspKeyFrames size = 33940
terminate called after throwing an instance of 'std::length_error'
what(): vector::reserve
Aborted (core dumped)

Segmantation fault on step of TrackMonocular

Hi! Thanks for sharing your code, but can you help with my problem, I got Segmentation fault error on step, when algorithm first time enters to TrackMonocular function in Map Load mode.
I got some warning during map loading, there are:

map point [1585] not found in KF 41
map point [1585] not found in KF 87
refernce KF - 4is not found for mappoint 1052
refernce KF - 11is not found for mappoint 1325
refernce KF - 11is not found for mappoint 1321
refernce KF - 26is not found for mappoint 1689
refernce KF - 26is not found for mappoint 1780
refernce KF - 26is not found for mappoint 1588
refernce KF - 26is not found for mappoint 1677
refernce KF - 26is not found for mappoint 1688
refernce KF - 11is not found for mappoint 1600
refernce KF - 26is not found for mappoint 1659
refernce KF - 26is not found for mappoint 1709
refernce KF - 26is not found for mappoint 1701
refernce KF - 26is not found for mappoint 1810
refernce KF - 26is not found for mappoint 1704
refernce KF - 26is not found for mappoint 1988
refernce KF - 26is not found for mappoint 1907
refernce KF - 30is not found for mappoint 1920
refernce KF - 30is not found for mappoint 2058
refernce KF - 26is not found for mappoint 1806
refernce KF - 30is not found for mappoint 2112
refernce KF - 30is not found for mappoint 2201
refernce KF - 26is not found for mappoint 2250
refernce KF - 30is not found for mappoint 2068
refernce KF - 26is not found for mappoint 1971
refernce KF - 30is not found for mappoint 2121
refernce KF - 30is not found for mappoint 2224
refernce KF - 30is not found for mappoint 2118
refernce KF - 30is not found for mappoint 2288
refernce KF - 26is not found for mappoint 2320
refernce KF - 30is not found for mappoint 2538
refernce KF - 30is not found for mappoint 2872
refernce KF - 45is not found for mappoint 2649
refernce KF - 26is not found for mappoint 2777
refernce KF - 45is not found for mappoint 3183
refernce KF - 26is not found for mappoint 2986
refernce KF - 48is not found for mappoint 3511
refernce KF - 74is not found for mappoint 3687
refernce KF - 48is not found for mappoint 3855
refernce KF - 26is not found for mappoint 5503
refernce KF - 73is not found for mappoint 5650
refernce KF - 48is not found for mappoint 5712
refernce KF - 49is not found for mappoint 5815
refernce KF - 73is not found for mappoint 5927

What can it be?
Thanks!

Crash on map load?

Hi, and thank you for making this code available! The save function is working for me, but when I set bReuseMap to true, I get a crash here:

//System.cc LoadMap

ia >> mpMap;

just after it prints:

{INFO}mspMapPoints size = 471

Do you have any idea why this might be happening?

Thanks!

how to make it work with ros ?

Monocular loses tracking, stereo works well.

Hi, thank you again for making this code public. In stereo mode, it all works great. In monocular mode, the initial map is created, (with reuse == 0) and tracking starts, but the system will not make any more points.

The 'matches' counter on the frame window starts high, then drops to zero and tracking is lost.

The same dataset works well in the original orbslam2. Stereo datasets work great, I only see this in mono.
Do you have any idea what could be causing this? Thanks!

how to make it works with ROS?

HI~ i'm beginner on ORB_SLAM and i already build the package and it works fine in mono orb_slam.(but without ROS)
here is how i run the orb_slam command.

Can this package run with ros system? i have no clue to change the camera source to some ROS topic, cause i found out there is no ROS folder in Example directory like the pic as below from the origin ORB_SLAM2 directory.

hope someone can give me some suggestion !!
thanks