SVO编译

软件版本

ubuntu	20
ros	noetic
SVO SLAM
虚拟机 windows 11

错误

1. 常见的git clone问题可以使用DevSidecar解决，在 加速服务-基本设置-绑定IP 设置为0.0.0.0，虚拟机网络连接设置为桥接，之后在虚拟机中设置网络中的 Network Proxy，IP为WindowsIP地址，端口为DevSidecar代理端口。
2. server certificate verification failed. CAfile: none CRLfile: none。参考CSDN博客
3. Cloning into ‘dbow2_src’…ssh: connect to host github.com port 22: Connection timed out。参考CSDN博客

cd svo_ws/src
git clone https://github.com/dorian3d/DBoW2.git
tar -cvf DBoW2.tar DBoW2
# 修改svo_ws/src/dbow2_catkin/CMakeLists.txt
ExternalProject_Add(dbow2_src
  GIT_REPOSITORY git@github.com:dorian3d/DBoW2.git
  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX}
  BUILD_COMMAND CXXFLAGS=-i${CATKIN_DEVEL_PREFIX}/include make
  INSTALL_COMMAND make install
) 
# 改为 XXXXXX为DBoW2.tar所在路径
ExternalProject_Add(dbow2_src
  URL XXXXXX/DBoW2.tar
  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX}
  BUILD_COMMAND CXXFLAGS=-i${CATKIN_DEVEL_PREFIX}/include make
  INSTALL_COMMAND make install
) 

编译

??创建工作空间，克隆代码

mkdir -p svo_ws/src && cd svo_ws/src
cd ..
catkin config --init --mkdirs --extend /opt/ros/noetic --cmake-args -DCMAKE_BUILD_TYPE=Release -DEIGEN3_INCLUDE_DIR=/usr/include/eigen3
cd src
git clone https://github.com/uzh-rpg/rpg_svo_pro_open.git

??依赖下载

# 该步骤任选其一执行
# 1
vcs-import < ./rpg_svo_pro_open/dependencies.yaml
# 1 结束

# 2
git clone https://github.com/catkin/catkin_simple.git &&\
git clone https://github.com/zurich-eye/cmake_external_project_catkin.git &&\
git clone https://github.com/ethz-asl/eigen_catkin.git &&\
git clone https://github.com/ethz-asl/eigen_checks.git &&\
git clone https://github.com/uzh-rpg/fast_neon.git &&\
git clone https://github.com/ethz-asl/gflags_catkin.git &&\
git clone https://github.com/ethz-asl/glog_catkin.git &&\
git clone https://github.com/ethz-asl/minkindr.git &&\
git clone https://github.com/ethz-asl/opengv.git &&\
git clone https://github.com/ethz-asl/minkindr_ros.git &&\
git clone https://github.com/ethz-asl/ceres_catkin.git &&\
git clone https://github.com/uzh-rpg/dbow2_catkin.git &&\
git clone https://github.com/uzh-rpg/rpg_trajectory_evaluation.git
# 2结束

??编译

touch minkindr/minkindr_python/CATKIN_IGNORE
cd rpg_svo_pro_open/svo_online_loopclosing/vocabularies && ./download_voc.sh
cd ../../..
catkin build

运行

??启动SVO核心ROS节点

source XXXXXX/devel/setup.bash
roslaunch svo_ros euroc_mono_frontend_imu.launch

??播放数据集

rosbag play  XXXXXX/DataSets/MH_01_easy.bag

??运行图片

轨迹路径保存

??svo轨迹数据通过 /svo/points 话题发布，该话题为visualization_msgs/Marker(中文参考)类型。旋转数据通过 /svo/pose_imu 发布，该话题为geometry_msgs/PoseWithCovarianceStamped(中文参考)类型。
??轨迹路径保存主要分为以下几步：

1. 启动svo_ros
2. 播放bag包，在开始后按下空格暂停
3. 新开两个终端记录话题信息/svo/points和/svo/pose_imu
4. 继续播放bag包
5. 将/svo/pose_imu数据转化为
   进行轨迹对比时，使用tum格式进行对比。EUROC转tum命令如下

evo_traj euroc groundtruth.csv --save_as_tum

??/svo/pose_imu原始数据转化为tum格式代码见附录
??获取到真实轨迹与实际轨迹后进行对比，代码与结果如下(感觉结果有点不对，希望知道的人指出)：data为真实轨迹，svo_result为ros结果

evo_traj tum data.tum svo_result.txt -p -s --align_origin -a --plot_mode=xyz --ref=data.tum

运行TUM数据集

待补充

附录

针对svo slam的/svo/pose_imu转为tum格式代码

in_file_path = "svo_pose_data.txt" 
out_file_path = "svo_result.txt" 

rfp = open(in_file_path)
wfp = open(out_file_path,"w")
file_end = False
while file_end != True:
    time = 0
    tx = 0
    ty = 0
    tz = 0
    qx = 0
    qy = 0
    qz = 0
    qw = 0
    for i in range(19):
        line = rfp.readline()
        if line == "":
            file_end = True
            break
        if i == 3:
            time += float(line.split(":")[1])
        elif i == 4:
            time += float(line.split(":")[1])/1e9
        elif i == 9:
            tx = float(line.split(":")[1])
        elif i == 10:
            ty = float(line.split(":")[1])
        elif i == 11:
            tz = float(line.split(":")[1])
        elif i == 13:
            qx = float(line.split(":")[1])
        elif i == 14:
            qy = float(line.split(":")[1])
        elif i == 15:
            qz = float(line.split(":")[1])
        elif i == 16:
            qw = float(line.split(":")[1])
        else:
            pass
    write_str = "{time} {tx} {ty} {tz} {qx} {qy} {qz} {qw}\n".format(time=time,tx=tx,ty=ty,tz=tz,qx=qx,qy=qy,qz=qz,qw=qw)
    # print(write_str)
    wfp.write(write_str)
rfp.close()
wfp.close()
print("保存完毕")