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ORB_SLAM3

You can use ORB_SLAM3 as a backend in stretch_ai. It internally uses Stretch's D435i's RGBD and IMU (accelerometer and gyroscope) streams to build a map. stretch_ros2_bridge should automatically use ORB_SLAM's pose estimates and fuse them with Hector SLAM and wheel odometry. Please note that for ORB_SLAM3 to work reliably, it should always have sufficient texture and features visible in camera view.

We use our own version of ORBSLAM3 and associated python bindings. The following steps will guide you through the installation process.

Installation

To set up ORB_SLAM3 on your robot, execute the following commands in your terminal:

Dependencies

Install build dependencies:

sudo apt install git cmake build-essential libboost-dev libssl-dev libboost-serialization-dev libboost-python-dev libeigen3-dev libgl1-mesa-dev libglew-dev libgtk-3-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev openexr libatlas-base-dev libopenexr-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev python3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-dev gfortran

OpenCV4

Install OpenCV4

mkdir ~/opencv_build && cd ~/opencv_build
git clone https://github.com/opencv/opencv.git
git clone https://github.com/opencv/opencv_contrib.git
mkdir -p ~/opencv_build/opencv/build && cd ~/opencv_build/opencv/build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D OPENCV_GENERATE_PKGCONFIG=ON -D BUILD_EXAMPLES=ON -D OPENCV_EXTRA_MODULES_PATH=~/opencv_build/opencv_contrib/modules ..
make -j6 # This shall take a while
sudo make install

Pangolin

Install Pangolin for visualization:

cd ~
git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin/
sudo ./scripts/install_prerequisites.sh --dry-run recommended
cmake --build build
cd build
sudo make install

Build and Install ORB_SLAM3

There are two build scripts that you can run on the robot as well:

Execute these commands:

cd ~
git clone https://github.com/hello-atharva/ORB_SLAM3.git
cd ORB_SLAM3/
./build.sh
cd build
sudo make install
cd ../Thirdparty/Sophus/build
sudo make install

This should also install Sophus on your system path.

ORB_SLAM3 Python Wrapper

To use ORB_SLAM3 with Stretch AI, we use a custom python wrapper.

cd ~
git clone https://github.com/hello-atharva/ORB_SLAM3-PythonBindings.git
mkdir build
cd build
cmake ..
make j4
sudo make install

Update LD_LIBRARY_PATH

This is to add previously installed libraries to the LD cache.

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib