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README.md

点云建图

该ros包需要配合我们修改过的ORB-SLAM2进行使用(使用分支V1.0.0),由ORB-SLAM2或者其他的位姿估计节点输出相机的位姿,该节点接受彩色图与深度图生成点云,根据位姿估计器输出的相机位姿Tcw对局部点云进行拼接。

详细的教程请参考csdn博客系列教程:ORB-SLAM2 在线构建稠密点云

Distribute SLAM

使用说明

git clone https://github.com/RuPingCen/pointcloud_mapping.git  

roslaunch pointcloud_mapping pointcloud_mapping.launch

Useage of Distribute SLAM

  1. clone the pose estimater node (This is an extended ORB-SLAM2 system)
cd catkin_ws/src

git clone https://github.com/RuPingCen/ORB-SLAM2.git 

cd ORB_SLAM2

./build.sh

./build_ros.sh
  1. clone the mapping node and elas lib

note: the elas-lib is used for calculate the disparity from the stereo camera

cd catkin_ws/src

git clone https://github.com/RuPingCen/pointcloud_mapping.git 

git clone https://github.com/jeffdelmerico/cyphy-elas-ros.git
  1. build workspace
cd catkin_ws

catkin_make

RGBD Model

  1. download the TUM rosbag form the website, then open a terminal and play the rosbag
rosbag play rgbd_dataset_freiburg1_room.bag
  1. launch the pose estimator
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/YOUR-PATH/ORB_SLAM2/Examples/ROS

rosrun ORB_SLAM2 astra Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM2/TUM1_ROSbag.yaml
  1. launch the mapping node with launch file
cd catkin_ws/src

source devel/setup.bash

roslaunch pointcloud_mapping tum1.launch

STEREO Model Distribute SLAM

STEREO Model

  1. download the KITTI images form the website, then the python script is used to convert the images to rosbag.
roslaunch publish_image_datasets publish_kitti.launch 
  1. launch the pose estimator
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/YOUR-PATH/ORB_SLAM2/Examples/ROS

rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/KITTI00-02.yaml false
  1. launch the mapping node with launch file
cd catkin_ws/src

source devel/setup.bash

roslaunch elas_ros kitti_no_rviz.launch

roslaunch pointcloud_mapping kitti.launch

This is a demo on KITTI dataset demo STEREO

STEREO Model Distribute SLAM

Mick robot

The Mick is a home-made diff-wheeled car, equipped with ZED binocular camera.

This is a demo on Mick demo STEREO

项目简介

🚀 Github 镜像仓库 🚀

源项目地址

https://github.com/rupingcen/pointcloud_mapping

发行版本

当前项目没有发行版本

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开发语言

  • C++ 82.5 %
  • CMake 17.5 %