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CSUHuman-UAV-UGV-Collaboration / Bots-Repo

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ORB SLAM 2 map saving and loading #2

Open sujaymanb opened 6 years ago

sujaymanb commented 6 years ago

I modified camera calibration settings (camera settings and distortion coefficients) to work for the bebop 2 camera and it seems that orb slam is working better (finds features faster more consistently). However, now the issues is that the main ORB_SLAM2 github project that we are using does not allow for saving and loading of the 'map'. It seems that we may need some third-party implementation of this feature. I will look into it more.

sujaymanb commented 6 years ago

Some leads: A fork of the original repo by Alkaid Benetnash that has the saving feature. https://github.com/Alkaid-Benetnash/ORB_SLAM2

found in this issue: https://github.com/raulmur/ORB_SLAM2/issues/19

I also downloaded a modified version of the Orb_slam package made by @poine poine_orbslam2_04_07_16.tgz http://recherche.enac.fr/~drouin/slam/orbslam2/poine_orbslam2_04_07_16.tgz

https://answers.ros.org/question/230284/map-saved-in-orbslam2/