Orb_slam2: g2o is NOT up to date....

Created on 6 Oct 2016 · 8Comments · Source: raulmur/ORB_SLAM2

Just wonder if the most up-to-date g2o https://github.com/dorian3d/DBoW2 is also compatible with ORB_SLAM2?

Cheers
Pei

Source

jiapei100

Most helpful comment

I got a problem when using official latest g2o with orb-slam2. To whom does not feel @jiapei100 's solution that clear. Here is a detailed version of how I solved this problem.

Replacing

types_six_dof_expmap.h
types_six_dof_expmap.cpp
types_seven_dof_expmap.h
types_seven_dof_expmap.cpp

in latest g2o with ones from g2o in this repo

Then fix headers problem in these four files, also disable building examples and apps. In addition, use findG2O instead of using one libg2o.so

Everything in ORB-SLAM2 with work fine with it.

gzhang8 on 30 Aug 2017

👍3

All 8 comments

Both thirdparty packages (g2o or DBoW2) were minimized and modified to be included in orb-slam2.

I think someone has to try to compile orb-slam2 with up to date g2o and/or dbow2 and see what happens.

The other question: has new g2o version improved some code orb-slam2 uses?

AlejandroSilvestri on 18 Oct 2016

@AlejandroSilvestri
I've already figure it out by myself...
Simply inherite a small patch of BaseBinaryEdge from original ORB_SLAM2 will do...

Thank you ...

jiapei100 on 20 Oct 2016

👍2

Excellent! So, it's recommended to patch BaseBinaryEdge.
Thank you!

AlejandroSilvestri on 20 Oct 2016

I got a problem when using official latest g2o with orb-slam2. To whom does not feel @jiapei100 's solution that clear. Here is a detailed version of how I solved this problem.

Replacing

types_six_dof_expmap.h
types_six_dof_expmap.cpp
types_seven_dof_expmap.h
types_seven_dof_expmap.cpp

in latest g2o with ones from g2o in this repo

Then fix headers problem in these four files, also disable building examples and apps. In addition, use findG2O instead of using one libg2o.so

Everything in ORB-SLAM2 with work fine with it.

gzhang8 on 30 Aug 2017

👍3

@AlejandroSilvestri,@AlejandroSilvestri
The ORB author said that the DBow and g2o is the modified version. I want to know that the modified version g2o and DBow is just part of original g2o and DBow code or the ORB author changes some codes in original g2o and DBow codes. If the author changes the codes , why he does so?

vigorbird on 14 Mar 2018

@vigorbird ,

I don't remember clearly, so I can't cite the source, but I quite sure the only modification was deleting parts orb-slam2 don't use.

AlejandroSilvestri on 14 Mar 2018

👍1

@AlejandroSilvestri
Thank you very much. I just finish reading orb2 source code and find this problem. If I know what the reason why the author does so, I will finish this question.

vigorbird on 14 Mar 2018

👀1

@gzhang8 @AlejandroSilvestri . I did the similar things you mentioned to upgrade newest g2o. But, i ran into some other issues for following,
sparse_block_matrix_ccs.h - error: ‘number_t’ was not declared in this scope
and similar errors in other files also, Should i replace those files also ?

If i replace those, would that be effective ?

thanks. well appreciated!