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raulmur / ORB_SLAM

A Versatile and Accurate Monocular SLAM
http://webdiis.unizar.es/~raulmur/orbslam/
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Change Camera Source - ORB_Slam #75

Open Croninburg opened 9 years ago

Croninburg commented 9 years ago

Hi Guys

I have been looking into this and I seem to be stuck, all I am trying to do run this in real time, but I cant seem to change the camera source?? I am I missing something obvious ??

Any help would be greatly appreciated :)

Chris

cipri-tom commented 8 years ago

the node is watching on the camera/image_raw topic by default. if you have a node publishing images on some other topic, then you have to remap it to camera/image_raw. For example, the ardrone_autonomy is publishing images on topic /ardrone/front/image_raw. To pass it to orb-slam I modified the lauch file to that in the node with ORB_SLAM I remap one topic onto the other:

    <node pkg="ORB_SLAM" .... output=screen>
        <remap from="/camera/image_raw" to="ardrone/front/image_raw" />
    </node>
KathiravanNatarajan commented 7 years ago

@cipri-tom @Croninburg Hi, I am working on a school project. Do you guys have the source code of ORB_SLAM on ARDRONE 2.0 ?

Any github link or suggestions are appreciable.

cipri-tom commented 7 years ago

@KathiravanNatarajan you should spend time to understand how it works and plug it in yourself. What part are you stuck on ? Is there anything that's not working ?

KathiravanNatarajan commented 7 years ago

Hi, I have got rviz(something is running) and rqt_image window with the output of ardrone/front/image_raw.

How can I get the 3D model of the environment using the existing code ? I have downloaded bag file too. Does bag file have anything to do with 3D model ?

cipri-tom commented 7 years ago

Does bag file have anything to do with 3D model ?

Oh man, I really can't remember. And it was only 1 year ago :( . IIRC, the bag file was storing the visual words, i.e. an encoding of the environment which the algorithm can use to identify previously seen places.

With the existing code you cannot get the 3D model. All you're getting I think is a keyFrameTrajectory.txt which is not that useful. I extended the project to export the map points at the closing of the program, in PLY format, which can be read by 3D processing software such as meshlab. However, keep in mind that you don't know the scale of the map, so you only get a rough idea of the relative locations. And there are outliers. Here are 2 images of the 3D model I got out. Check my project video and if you think it's useful, write me an email, so we don't spam this thread.