- Visual localization in pre-build pointcloud maps.
- OpenVSLAM and VINS-mono can be used.
If you are using ROS, you only need to install g2o
and DBoW2
.
- ROS
- OpenCV >= 3.2
- Eigen
- PCL
- g2o
- DBow2
- Please use the custom version released in https://github.com/shinsumicco/DBoW2)
see also: openvslam.
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone --recursive https://github.com/MapIV/iris.git
cd ..
catkin_make
- visual feature file:
orb_vocab.dbow
from URL - pointcloud map :
kitti_00.pcd
from URL - rosbag :
kitti_00_stereo.bag
from URL
roscd iris/../../../
# download sample data to here (orb_voceb.dbow, kitti_00.pcd, kitti_00_stereo.bag)
ls # > build devel install src orb_vocab.dbow kitti_00.pcd kitti_00_stereo.bag
roslaunch iris openvslam.launch
rosbag play kitti_00_stereo.bag # (on another terminal)
If the estimated position is misaligned, it can be corrected using
2D Pose Estimate
in rviz.
roscd iris/../../../
# download sample data to here (orb_voceb.dbow, kitti_00.pcd, kitti_00_stereo.bag)
ls # > build devel install src orb_vocab.dbow kitti_00.pcd kitti_00_stereo.bag
roslaunch iris stereo_openvslam.launch
rosbag play kitti_00_stereo.bag # (on another terminal)
If the estimated position is misaligned, it can be corrected using
2D Pose Estimate
in rviz.
- pointcloud map file (*.pcd)
- rosbag (*.bag)
- Config file for iris such as
config/sample_iris_config.yaml
- (only if you use OpenVSLAM) Config file for vSLAM such as
config/sample_openvslam_config.yaml
- (only if you use VINS-mono) To use the VINS-mono, you need to write a launch file and a config file. (More detail in https://github.com/HKUST-Aerial-Robotics/VINS-Mono)
roslaunch iris openvslam.launch iris_config_path:=...
rosbag play yours.bag # (on another terminal)
roslaunch iris vinsmono.launch iris_config_path:=...
roslaunch vins_estimator *something*.launch # (on another terminal)
rosbag play yours.bag # (on another terminal)
Iris is provided under the BSD 3-Clause License.
The following files are derived from third-party libraries.
iris/src/optimize/types_gicp.hpp
: part of g2o (BSD)iris/src/optimize/types_gicp.cpp
: part of g2o (BSD)iris/src/pcl_/correspondence_estimator.hpp
: part of pcl (BSD)iris/src/pcl_/correspondence_estimator.cpp
: part of pcl (BSD)iris/src/pcl_/normal_estimator.hpp
: part of pcl (BSD)iris/src/pcl_/normal_estimator.cpp
: part of pcl (BSD)