ORB_SLAM2提供位姿信息,elas_ros 提供深度数据,mappingWithPointCloud 节点实现三维点云拼接。
在安装之前把所需要的库都装好,这个就不再叙述了
下载修改后的ORB_SLAM2源码
git clone https://gitee.com/zeende/orb_slam2 ORB_SLAM2_Pointcloud
修改build_ros.sh
修改文件名
下载稠密点云包orbslam2_pointcloud_mapping
git clone https://gitee.com/zeende/orbslam2_pointcloud_mapping
修改 mappingWithPointCloud.cpp
下载双目深度计算功能包cyphy-elas-ros
git clone https://github.com/jeffdelmerico/cyphy-elas-ros.git
修改elas.launch
修改为自己数据集发布的话题
修改为kitti
全部修改完后
catkin_make
编译ORB_SLAM2
数据集测试
roscore
进入数据集文件夹,启动bag1003.sh,然后按空格暂停
0.2为播放倍速
bag1003.sh内容为:
rosbag play -r 0.2 kitti_2011_10_03_drive_0047_synced.bag /kitti/camera_gray_right/camera_info:=/kitti/right/camera_info /kitti/camera_gray_right/image_raw:=/kitti/right/image_raw /kitti/camera_gray_left/camera_info:=/kitti/left/camera_info /kitti/camera_gray_left/image_raw:=/kitti/left/image_raw
./bag1003.sh
进入ORB_SLAM2_Pointcloud文件夹,启动Stereo双目节点
rosrun ORB_SLAM2_pointcloud Stereo Vocabulary/ORBvoc.txt Examples/Stereo/KITTI00-02.yaml false
启动深度计算节点
roslaunch elas_ros elas.launch
启动建图节点
roslaunch pointcloud_mapping kitti.launch
建立出的点云图十分奇怪,我要继续研究下
https://www.guyuehome.com/34407
问题:
1.
解决方法:
sudo ln -s /usr/local/include/eigen3 /usr/include/eigen3