现在,您可以同时运行ORB SLAM3和RealSense D435i相机。首先,启动相机节点: roslaunch realsense2_camera rs_camera.launch 然后,启动ORB SLAM3的节点: roslaunch orb_slam3 orb_slam3_ros.launch 如果一切正常,您将看到ORB SLAM3成功从RealSense D435i相机获取图像数据,并开始进行实时SLAM建图。 五、优化与调试 ...
同时,结合IMU数据,D435i还能够提供物体的姿态和加速度信息,为各种应用场景提供了丰富的数据支持。 安装与使用 相关配置安装 在电脑端使用需要配合RealSense专门的驱动和SDK,这里以Ubuntu为例,介绍安装使用过程,直接参考下面链接进行SDK(RealSense SDK 2.0)、ros、RealSense-ROS安装(需要注意的是,RealSense-ROS并不依赖于...
安装ROS标定工具包 sudo apt install ros-melodic-camera-calibration 1. 启动realsense相机 roslaunch realsense2_camera rs_camera.launch 1. 打开标定窗口 rosrun camera_calibration cameracalibrator.py --size 10x8 --square 0.01 image:=/camera/color/image_raw camera:=/camera/color --no-service-check 1...
要在Ubuntu 20.04上安装ROS(Robot Operating System),配置ORB-SLAM3,并安装和配置Intel RealSense D435i相机驱动及接口,最后测试ORB-SLAM3与D435i的集成与功能,可以按照以下步骤进行: 1. 安装Ubuntu 20.04操作系统 此步骤假设你已经安装了Ubuntu 20.04操作系统。如果没有,请从Ubuntu官方网站下载并安装。 2. 安装ROS...
首先,系统的入口文件是:http://System.cc, 自己新写接口,ros的接口,都是从这个函数文件进行调用。 http://System.cc ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::RGBD,true); ./Examples/Stereo-Inertial/stereo_inertial_realsense_D435i Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertia...
docker pull shaderobotics/orbslam2-ros2:latest Follow the run commands in the usage section below Build Natively Directly follow the steps in the Dockerfile Usage Use an Ubuntu host or ensure that an X11 server is installed (for the UI) Run xhost + local:docker Run on the D435i docker...
We provide some examples to process input of a monocular, monocular-inertial, stereo, stereo-inertial or RGB-D camera using ROS. Building these examples is optional. These have been tested with ROS Melodic under Ubuntu 18.04. 3. Building ORB-SLAM3 library and examples ...
make[2]: *** [CMakeFiles/stereo_inertial_realsense_D435i_old.dir/build.make:63: CMakeFiles/stereo_inertial_realsense_D435i_old.dir/Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:188: CMakeFiles/stereo_inertial_realsense...
orb-slam3执行完./build_ros.sh后出现CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/private.cmake:102 原因是:～/.bashrc设置的ROS_PACKAGE_PATH没有起作用。 解决方案: 1, sudogedit ~/.bashrc 2,在~/.bashrc文件结尾加上(PATH要替换为自己电脑中ORB_SLAM3存放的路径): ...
$ roslaunch turbot3_bringup core.launch [TurBot3] 启动D435i相机 $ roslaunch realsense2_camera rs_camera.launch [TurBot3] 启动orbslam3程序 # Mono $ rosrun ORB_SLAM3 Mono /home/ubuntu/tools/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/ubuntu/tools/ORB_SLAM3/Examples/Monocular/RealSense_D435i....