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SVO
乔克1998
虽然走得慢,但是不会停
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用自己的摄像头运行SVO(效果不好)
《SVO: Fast Semi-Direct Monocular Visual Odometry》一、摘要semi-direct 半直接减小了特征提取的量匹配的运动估计更鲁棒直接从pixel intensities(像素强度)操作在高帧速率下得到subpixel precision(亚像素精度)models outlier measurements (建模异常值来估计异常点)二、引言将基于特征的方法(跟踪多个特征、并行跟踪和映射、关键帧选择)的优点因素与直接方法的准确性和速度相结合。介原创 2021-11-24 17:07:05 · 852 阅读 · 1 评论 -
fatal error: rqt_gui_cpp/plugin.h: No such file or directory
fatal error: rqt_gui_cpp/plugin.h: No such file or directory已经sudo apt-get install ros-melodic-rqt-gui-cpp了,但是找不到在文件所在的cmakelist里添加:原创 2021-11-23 10:14:44 · 493 阅读 · 0 评论 -
SVO (1)跑数据集
roscore cd leishen_ws/src/rpg_svo/svo_ros/launch/roslaunch svo_ros test_rig3.launchrosrun rviz rviz -d <PATH TO rpg_svo>/svo_ros/rviz_config.rviz// A code blockvar foo = 'bar';原创 2021-08-08 20:26:25 · 320 阅读 · 0 评论 -
SVO相机标定环境配置相关问题
报错:terminate called after throwing an instance of ‘std::runtime_error’what(): Frame: provided image has not the same size as the camera model or image is not grayscale解决:经过调试发现是这句的问题:vo_->addImage(img, msg->header.stamp.toSec());调用FrameHandle原创 2021-08-06 13:23:31 · 631 阅读 · 0 评论 -
SVO 报错:segmentation fault (core dumped)
解决:img = cv_bridge::toCvShare(msg, “mono8”)->image;mono8改成rgb8才是自己的摄像头格式。原创 2021-08-05 11:49:39 · 169 阅读 · 0 评论