138 lines
4.1 KiB
Markdown
138 lines
4.1 KiB
Markdown
SVO
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===
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Disclaimer
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----------
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SVO has been tested under ROS Groovy and Hydro and Ubuntu 12.04 and 13.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
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Installation Instructions
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-------------------------
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#### OPTIONAL: g2o - General Graph Optimization
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Only required if you want to run bundle adjustment. It is not necessary for visual odometry.
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g2o requires the following system dependencies: `cmake, libeigen3-dev, libsuitesparse-dev, libqt4-dev, qt4-qmake, libqglviewer-qt4-dev`, install them with `apt-get`
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I suggest an out-of-source build of g2o:
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cd workspace
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git clone https://github.com/RainerKuemmerle/g2o.git
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cd g2o
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mkdir build
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cd build
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cmake ..
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make
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sudo make install
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If you don't want to make a system install, then you can replace the cmake command with `cmake .. -DCMAKE_INSTALL_PREFIX:PATH=$HOME/installdir`
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#### Sophus - Lie groups
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Sophus by Hauke Strasdat implements Lie groups that we need to describe rigid body transformations.
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cd workspace
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git clone https://github.com/strasdat/Sophus.git
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cd Sophus
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git checkout a621ff
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mkdir build
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cd build
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cmake ..
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make
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You don't need to install the library since `cmake ..` writes the package location to `~.cmake/packages/` where CMake can later find it.
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#### Fast Detector
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The Fast detector by Edward Rosten is used to detect corners.
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To simplify installation we provide a CMake package that contains the fast detector from the libCVD library (http://www.edwardrosten.com/cvd/).
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cd workspace
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git clone https://github.com/uzh-rpg/fast.git
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cd fast
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mkdir build
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cd build
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cmake ..
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make
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#### ViKit - Some useful tools that we need
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ViKit for instance contains camera models, some math and interpolation functions that SVO needs.
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ViKit is a catkin project, therefore, download it into your catkin workspace source folder.
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cd catkin_ws/src
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git clone https://github.com/uzh-rpg/rpg_vikit.git
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#### SVO
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Now we are ready to build SVO.
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Clone it into your catkin workspace
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cd catkin_ws/src
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git clone https://github.com/uzh-rpg/rpg_slam.git
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If you installed g2o then set `HAVE_G2O` in `svo/CMakeLists.txt` to TRUE.
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Then build
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catkin_make
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Run SVO on a Dataset
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-------------------------
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Download this example dataset: [rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag](http://rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag)
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Open a new console and start SVO with the prepared launchfile:
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roslaunch svo_ros test_rig3.launch
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Open a new console and start RViz
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rosrun rviz rviz
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In RViz, load the configuration file (File > Open Config) which is stored in `svo_ros/rviz_config.rviz`.
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Now you are ready to start the rosbag. Open a new console and change to the directory where you have downloaded the example dataset. Then type:
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rosbag play airground_rig_s3_2013-03-18_21-38-48.bag
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Now you should see the video with tracked features (green) and in RViz how the camera moves.
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SVO GUI
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-------
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Type `rosrun rqt_svo rqt_svo` to run the SVO widget that displays the number of tracked features, the frame rate and provides some interface buttons.
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Keyboard Shortcuts
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------------------
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Make sure to active the console window when pressing the keys.
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* `s` Start/Restart
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* `q` Quit
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* `r` Reset
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Parameter Settings
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------------------
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A description of all parameters which can be set via the launchfile is provided in `svo/include/config.h`. The default parameters can be viewed in `svo/src/config.cpp`. Moreover, some additional parameters (mainly rostopic names etc.) are read from the ros parameter server in `svo_ros/slam_node.cpp`.
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Generating Code Documentation
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-----------------------------
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You can generate a Doxygen documentation as follows
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cd svo
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doxygen Doxyfile
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Contributing
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------------
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You are very welcome to contribute by opening a pull request via Github.
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I try to follow the ROS C++ style guide.
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Licence
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-------
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The source code is released under GPLv3 licence. A professional edition license for closed-source projects is also available. Please contact `forster at ifi dot uzh dot ch` for further information.
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