How to display/build a 3D Map on RVIZ using ORB_SLAM2 and bag file from mp4 video?

asked 2018-05-31 02:51:28 -0600

Astronaut gravatar image

updated 2018-05-31 22:10:37 -0600

Hi. Im using ROS kinetic and Ubuntu 16.04. I can successfully build and run the ORB_SLAM2 package. in order to build the map in real time I need to follow two steps.

  1. First, raw image topic should be rectified with image_proc node. so done with $rosrun image_view image_view image:=/camera/image_raw

  2. Second, compile the ROS mono example in ORB-SLAM2, and then run this node and set its subscribed topic to the above rectified image topic with $ rosrun ORB_SLAM2 Mono /home/my_computer/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/my_computer/catkin_ws/src/ORB_SLAM2/Examples/Monocular/TUM1.yaml image_raw:=/camera/image_raw

  3. Then run the video_stream_opencv video launch file with roslaunch ~ / video_file.launch

So I can see that ORB_SLAM is running and can see the point clouds . Thats is ORB_SLAM running without RVIZ, But in RVIZ I cant not see the a map. What are the sets up in RVIZ in order to visualize the 3D Map and see the path and trajectory followed by the robot?

Thanks

edit retag flag offensive close merge delete
add a comment