Orb-slam2 with Kinect V1

Because the only Kinect V1 on hand is not V2, and the online implementation of ORB-SLAM2 is based on Kinect2, the most famous Gaobo to implement Http://www.cnblogs.com/gaoxiang12/p/5161223.html. By referring to some of the data, the Kinect1 realized the ORB-SLAM2, here summarizes the concrete steps.

1. My system:

Ubuntu14.04, ROS Indigo,lenovo Z485, Kinect V1.

2. Dependency installation , refer to Orb-slam2 's Prerequisites (dependencies) section

2.1 Boost

   sudo apt-get install libboost-all-dev

 2.2 ROS  安装的是indigo （http://wiki.ros.org/indigo/Installation/Ubuntu）

 2.3 OpenCV   安装的是OpenCV2.4.11

 2.4 g2o
  sudo apt-get install libblas-dev
  sudo apt-get install liblapack-dev
  sudo apt-get install libeigen3-dev

 2.5 DBoW2 (included in ThirdParty) is not installed in the ThirdParty folder of Orb-slam2.


3. Installing ORB-SLAM2refer to the installation of Orb-slam2Part
3.1 Downloadsgit clone https://github.com/raulmur/ORB_SLAM.git (可以直接放在home下，然后解压)
 3.2 修改.bashrc，加入export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH_TO_PARENT_OF_ORB_SLAM  （红色字体是需要修改的内容，改为ROS文件夹下的ORB-SLAM2路径） 
 gedit .bashrc 
 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/zfy/ORB-SLAM2/Examples/ROS  (根据需要，红色字体改为对应的路径) 
 3.3 编译g2o, cd到Thirdparty/g2o/，然后执行： 
 mkdir build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
 make 

  3.4 编译DBoW2, cd到Thirdparty/DBoW2/，然后执行：           
    mkdir build
    cd build
    cmake .. -DCMAKE_BUILD_TYPE=Release
    

 4. Installing the Kinect V1 driver

sudo apt-get install Libfreenect-dev
sudo apt-get install Ros-indigo-freenect-launch

Roslaunch Freenect_launch freenect.launch Verify that the Kinect driver is installed successfully;
Rostopic List View orb-slam2 required two topic:/camera/rgb/image_raw     /camera/depth_registered/image_raw


5.  Configuring the launch file
Create a new file Kinect_orbslam2.launch in the root directory of the extracted orb-slam2, with the contents of(根据需要，红色字体改为对应的路径，其他的无需修改)

<launch>
<param name= "Orb_use_viewer" value= "false"/>
<node pkg= "orb_slam2" type= "RGBD" name= "Orb_slam2"
Args= "/home/zfy/orb_slam2/vocabulary/orbvoc.txt
/home/zfy/orb_slam2/examples/rgb-d/tum1.yaml"Cwd=" Node "output=" screen "/>

<include file= "$ (find Freenect_launch)/launch/freenect.launch" >
<!--use device registration--
<arg name= "Depth_registration" value= "true"/>
<arg name= "rgb_processing" value= "true"/>
<arg name= "ir_processing" value= "false"/>
<arg name= "depth_processing" value= "false"/>
<arg name= "depth_registered_processing" value= "true"/>
<arg name= "disparity_processing" value= "false"/>
<arg name= "disparity_registered_processing" value= "false"/>
<arg name= "sw_registered_processing" value= "false"/>
<arg name= "hw_registered_processing" value= "true"/>
</include>
</launch>

6. Running Orb-slam2
CD ORB-SLAM2
./build.sh
Roslaunch Kinect_orbslam2.launch

结果如：

Orb-slam2 with Kinect V1