/ORB_SLAM3_Dense_YOLO

ORB_SLAM3+YOLO+RGBD_DNECEMAP

Primary LanguageMakefile

简介

此项目在ORB-SLAM3的基础上添加了稠密建图和目标识别模块，针对ubuntu20.04做了相应的修改，使用RealsenseD435 RGBD相机 纯净版ORB-SLAM3见

git clone git@github.com:huashu996/ORB_SLAM3.git

环境配置

详情见https://blog.csdn.net/HUASHUDEYANJING/article/details/129053124?spm=1001.2014.3001.5501 opencv 4.2 Pangolin 0.6

  • Install libtorch为了使用YOLO
wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-1.11.0%2Bcpu.zip
unzip libtorch-cxx11-abi-shared-with-deps-1.11.0%2Bcpu.zip
mv libtorch/ PATH/YOLO_ORB_SLAM3/Thirdparty/

编译

  • 加入ROS环境
gedit ~/.bashrc
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/cxl/workspace/ORB_SLAM3_Dense_YOLO/Examples/ROS/YOLO_ORB_SLAM3_with_pointcloud_map
source ~/.bashrc
  • 编译
chmod +x build.sh
chmod +x build_ros.sh
./build.sh
./build_ros.sh

运行RGBD稠密建图

  • 话题 一定得用aligned后的深度图，否则三维重建的效果很差
ros::NodeHandle nh;
message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/camera/color/image_rect_color", 100);
message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "/camera/aligned_depth_to_color/image_raw", 100);
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> sync_pol;
message_filters::Synchronizer<sync_pol> sync(sync_pol(10), rgb_sub,depth_sub);
sync.registerCallback(boost::bind(&ImageGrabber::GrabRGBD,&igb,_1,_2));
  • 运行
roslaunch realsense2_camera rs_rgbd.launch align_depth:=true
roslaunch YOLO_ORB_SLAM3_with_pointcloud_map camera_topic_remap.launch
rosrun ORB_SLAM3_Dense_YOLO RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/RealSense_D435i.yaml