/ORB-Plane

Primary LanguageC++Apache License 2.0Apache-2.0

ORB-Plane

build:

build the whole project ( inclouding binary loading tools ):

Before all the cmd, DONOT forget to download the Vocabulary form the origin repo and place it into dir ./Vocabulary

     cd YourDirectory/ORBSLAM2_with_pointcloud_map
     chmod +x build.sh
     ./build.sh

only build the ORB_SLAM2 mode with pcl

    cd YourDirectory/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified
    mkdir build
    cd build
    cmake ..
    make -j

Run:

    ./run/rgbd_tum Vocabulary/ORBvoc.bin path_to_settings path_to_sequence path_to_association

What are modified:

  • changing the vocabulary loading method into binary mod

  • adding a pointcloud viewer( realized by adding a viewer thread )

  • changing the CMakeLists.txt that all the executable files are placed in ./bin

piece wise plane

  • in local mapping, find group of points.
  • in every group of points, find points in plane by the image segment result.
  • fit the piece wise plane by ransac and find the inlier points.
  • use the inlier points to calculate the plane's height width and thickness (WHT).
  • draw planes in pangolin with WHT of plane

plane segment