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

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

2. 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

3. 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

2. 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

3. launch the mapping node with launch file

cd catkin_ws/src

source devel/setup.bash

roslaunch pointcloud_mapping tum1.launch

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 

2. 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

3. 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

Mick robot

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

This is a demo on Mick demo STEREO