ORB-SLAM2
ROS版本:
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2sudo chmod 777 ORBvoc.txt
sudo chmod 777 TUM1.yaml
话题名字为:/camera/rgb/image_color和/camera/depth/image,修改ROS/ORB_SLAM2/src/ros_rgbd.cc文件中的监听话题名,再./build_ros.sh。(编译可能出错)
(需要用opencv2.4.9来进行编译),即在CMakeList.txt中写成
find_package(OpenCV 2.4.9 EXACT REQUIRED)
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28RGBD:
roscore
cd ~/hujun_file/ORB_SLAM2/Examples/ROS/ORB_SLAM2
rosrun ORB_SLAM2 RGBD ORBvoc.txt TUM1.yaml
rosbag play --clock hujun_file/bag/create_map/rgbd_dataset_freiburg1_xyz.bag
Stereo:
cd ~/h