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SLAM
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OV2SLAM 电脑自带单目摄像头运行
1.OV2SLAM的安装(我安装的版本1.0.5)OV2SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications地址:https://github.com/ov2slam/ov2slam 按照作者写的来即可,需注意以下几点我的系统:ubuntu-18.04.5-desktop-amd64.iso 已经安装ros-melodic-desktop-full1.1按照自己电脑配置修改文件内make ...原创 2021-05-23 17:07:45 · 598 阅读 · 2 评论 -
ubuntu18.04 安装ROS
1设置国内源、sources.list和keys,参考如下链接https://blog.csdn.net/qq_41450811/article/details/99079041 ubuntu18.04安装ROS Melodic(最详细配置)http://wiki.ros.org/melodic/Installation/Ubuntu Ubuntu install of ROS Melodichttps://blog.csdn.net/leonardohaig/article/details/8原创 2021-05-10 22:11:46 · 129 阅读 · 0 评论 -
Meshlab 将pcd转为ply并在meshlab中显示(warning mesh contains)
1.将pcd格式的文件转为ply格式使用pcl库自带脚本示例如下: pcl_pcd2ply 1.pcd output.ply2.在meshlab中查看可能会有警告,然后什么也不显示,解决方案如下1)直接将ply文件拖入 meshlab中,可能出现如下错误2)直接点ok或右上角然后点击file保存为ply文件3)再次打开此ply文件即可,删除圆圈可更改view,想要显示点云颜色记得将右边的Shading设置为None3.最终显示如下...原创 2021-05-10 19:25:27 · 3034 阅读 · 7 评论 -
Ubuntu18 ORB-SLAM2编译报错rospack found package at
参考方法:1.软链接https://blog.csdn.net/weixin_44401286/article/details/102752767rospack found package "ORB_SLAM2" at "/opt/ros/kinetic/share/ORB_SLAM2"2.添路径https://blog.csdn.net/weixin_45137708/article/details/105650078rospack found package “ORB_SLAM2” at...原创 2021-05-03 17:22:33 · 240 阅读 · 0 评论 -
Ubuntu18 ROS运行报错exit code -11
问题:roslaunch启动程序一会后显示process has died exit code -11.....gdb调试之后显示参考链接:https://answers.ros.org/question/275710/the-node-with-pluginlib-can-not-run-in-custom-boost-situation/上述链接原话:When I remove the path /usr/local/include/boost and /usr/local/li...原创 2021-05-03 16:31:52 · 8655 阅读 · 0 评论 -
python opencv单层光流法(高斯牛顿法求解)
使用jupyter (参考视觉SLAM十四讲第二版第八章源码)1.使用opencv自带函数import cv2 as cvimport numpy as npfrom matplotlib import pyplot as plt%matplotlib inline# 读取图片im1 = cv.imread('./data/LK1.png',0)im2 = cv.imread('./data/LK2.png',0)# 提取关键点gftt = cv.GFTTDetector_cr原创 2021-03-26 17:50:18 · 611 阅读 · 1 评论 -
python opencv最小化重投影误差求解PnP(高斯牛顿法)
使用jupyter (参考视觉SLAM十四讲第二版第七章源码)1.ORB特征点提取和配准得到3D坐标-2D坐标import cv2 as cvimport numpy as npfrom matplotlib import pyplot as plt# 读取图片 以及深度im1 = cv.imread('./data/1.png')im2 = cv.imread('./data/2.png')im1_d = cv.imread('./data/1_depth.png',-1)..原创 2021-03-23 22:13:11 · 2676 阅读 · 2 评论 -
python opencv实现3D-2DPnP求解位姿
使用jupyter (参考视觉SLAM十四讲版第第二七章源码)1.ORB特征点提取和配准得到3D坐标-2D坐标import cv2 as cvimport numpy as npfrom matplotlib import pyplot as plt# 读取图片 以及深度im1 = cv.imread('./data/1.png')im2 = cv.imread('./data/2.png')im1_d = cv.imread('./data/1_depth.png',-1).原创 2021-03-20 13:09:03 · 4062 阅读 · 22 评论 -
python opencv实现2D-2D对极几何求解位姿以及三角测量
使用jupyter (参考视觉SLAM十四讲第二版第七章源码)# 查看当前kernel下已安装的包 #!pip install opencv-python --user # opencv-python 4.5.1.48#!pip install -i https://pypi.tuna.tsinghua.edu.cn/simple opencv-python==3.4.8.29#!pip list --format=columns1.ORB特征点提取和配准import cv2 as原创 2021-03-20 00:20:39 · 5292 阅读 · 17 评论 -
c++ error: ‘XXX’ is not a member of ‘std’
本人编译运行slambook2/ch7中的代码 报错如下:error: ‘XXX’ is not a member of ‘std’详情如下图:error: ‘index_sequence’ is not a member of ‘std’.........网上参考方案:CMakeLists.txt 添加 set(CMAKE_CXX_STANDARD 11)无果 想起来代码中调用的g2o库 Requirements C++14 compiler 故修改为14 (猜测)本人亲测方案:C...原创 2021-03-17 21:55:08 · 20110 阅读 · 10 评论 -
Ubuntu18.04安装g2o报错(bal_example.cpp:96:52: error: template argument 2 is invalid)
编译g2o 其中的一个例子一直报错错误提示:bal_example.cpp:96:52: error: template argument 2 is invalid解决方案:不编译它 .. (暂没有找到更好的方案)可找到g2o/g2o/CMakeLists.txt 注释或删除相关行如下图:...原创 2021-03-17 21:10:27 · 1506 阅读 · 1 评论 -
Ubuntu18.04下编译ORB_SLAM3遇到的问题
参考博文:https://blog.csdn.net/weixin_42203839/article/details/107728106ORB_SLAM3的编译及运行【完整教程】1.E: Unable to correct problems, you have held broken packages类似下图推荐解决方案:换阿里云镜像源(具体换源方法百度很多)其它参考方案:https://www.cnblogs.com/schips/p/12470790.html 更...原创 2021-03-10 18:02:58 · 3476 阅读 · 0 评论