运行环境
- ubuntu 14.04
- ros indigo
- openni-launch
安装
https://github.com/felixendres/rgbdslam_v2下载rgbdslam_v2,到自己的workspace,然后catkin_make即可,如果出现sift…的错误,重新make一遍,如果有其他错误,则先运行rosdep install rgbdslam
,再重新make。
测试
依次运行如下:
roslaunch openni_launch openni.launch
rosrun rgbdslam rgbdslam
抱着kinect跑,即可发现在电脑上实时构图