git clone https://github.com/zang09/ORB_SLAM3_ROS2.git orbslam3_ros2 修改CMakeLists.txt,将第 5 行代码里的路径修改为你自己本机 ROS2 site-packages 的路径: set(ENV{PYTHONPATH} "/opt/ros/foxy/lib/python3.8/site-packages/") 修改CMakeModules/FindORB_SLAM3.cmake,将第 8 行代码里的路径...
git clone https://github.com/suchetanrs/ORB-SLAM3-ROS2-Docker cd ORB-SLAM3-ROS2-Docker git submodule update --init --recursive --remote 2. Install Docker on your system cdORB-SLAM3-ROS2-Docker sudo chmod +x container_root/shell_scripts/docker_install.sh ./container_root/shell_scripts...
$ ros2 launch ros2_orb_slam3 mapping.launch.xml use_live_feed:=false file_name:="your_file_name_here.mp4" The package is expecting an mp4 video here, eventually I'll make it so it can accept other file formats. There are two demo videos already in the /videos directory, "graham_ap...
Step3 : 运行orb_slam2 运行官方的 1 rosrun ORB_SLAM2 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE 其中包含两个参数: PATH_TO_VOCABULARY:视觉词典,一般可以直接使用catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt PATH_TO_SETTINGS_FILE:摄像头内参,可以使用路径catkin_ws/src/ORB_SLAM2/Examples/ROS/...
$ git clonehttps://github.com/raulmur/ORB_SLAM2.gitORB_SLAM2 $ cd ORB_SLAM2 $ chmod +x build.sh $ ./build.sh 生成的libORB_SLAM2.so位于lib目录下,可执行程序mono_tum, mono_kitti, rgbd_tum, stereo_kitti, mono_euroc and stereo_euroc位于Examples目录下。
ORBSLAM3 ros example的一个非常傻逼的bug, 表现为:系统在VIBA之后会freeze一段时间,如果VIBA时间较长,会偶发报“Timestamp jump detected. State set to LOST.”的错误,原有的tracking状态错误重置,并新建一个子地图。导致这个bug的过程:1. 首先,在ros node的Left&right camera subscriber callback中,有一段代...
PATH_TO_SETTINGS_FILE:摄像头内参,可以使用路径catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asus.yaml,但需要将Asus.yaml中的参数改成自己使用摄像头标定后的参数,摄像头标定可以使用opencv或matlab工具箱。 运行自己的 #如果路径还没配置需要以下两行添加ROS环境cd/home/hm/catkin_ws/src/ORB_SLAM2 #进...
Hi~ I run the euroc_mono, tum_rgbd and those launch file and i get : [orb_slam3-2] process has died [pid 2417, exit code -11, cmd /home/ace428/catkin_ws/devel/lib/orb_slam3_ros/ros_mono /camera/image_raw:=/cam0/image_raw __name:=orb_slam...
Hi guy i try to colcon build ORB_SLAM3_ROS2 after i run this line "colcon build --symlink-install --packages-select orbslam3" this error happens. i use ros2 foxy opencv 4.2.0 ubuntu 20.04 anyone know how to fix thankyou!
3、精通Navigation、Cartographer等开源2D激光SLAM算法,以及开源3D激光SLAM算法当中至少一种,熟悉ICP、NDT等点云匹配算法4、熟练掌握如ORB-SLAM3、VINS-Mono、PL-SLAM、VINS-Fusion、MSCKF等至少一种开源VSLAM系统并能对其进行修改优化者优先5、熟悉OpenCV、Tensorflow/Pytorch,精通C++,熟悉Linux及ROS系统,有2年以上linux...