![]() To speed up compile times consider to use "export ROS_PARALLEL_JOBS=-j" before rosmake, but you should have lots of memory as gcc may take up to 2GB for four parallel jobs. locale or replace the decimal point with a comma in your. If you are located in Germany and get errors loading the saved ply files into meshlab, try switching to U.S.Make sure that neither your $PATH nor $ROS_PACKAGE_PATH contains "boxturtle", "cturtle" or "unstable". If you have issues compiling, make sure you removed any older version of RGBDSLAM from your $ROS_PACKAGE_PATH.Instructions on reproduction of our results with the latest development snapshot. We hope our paper on the system and the evaluation will be accepted for ICRA 2012. ![]() We incorporated evaluation scripts of our system which use the dataset from Technische Universität München to generate figures on accuracy and runtime performance. You can use rosrun octovis octovis to view the octomap. The parameters in octomap_mapping.launch allow for some fine-tuning of resolution and sensor range. Roslaunch the adapted file from the first step.Checkout and compile the experimental version of the octomap stack:Įdit (a copy) of octomap_server/launch/octomap_mapping.launch such that the mapping from cloud_in goes to /rgbdslam/batch_clouds.Generating an Octomap requires the experimental version of the octomap stack to be installed. Neighbouring points are triangulated except at missing values and depth jumps. The 3D visualization always shows the globally optimized model. To reduce data redundancy, sequential frames from (almost) the same position are not included in the final model. ![]() To capture models either press space to start recording a continuous stream or press enter to record a single frame. Roslaunch openni_camera openni_node.launch Roslaunch rgbdslam kinect+rgbdslam.launchĪlternatively you can start the openni nodes and RGBDSLAM separately, e.g.: If you want to process the point cloud you can save to a ply file and use meshlab (debian-package: meshlab). Optionally, you might want to install perception_pcl_addons (debian package: ros-diamondback-perception-pcl-addons) which includes pcd_viewer, a viewer for the file format used by RGBDSLAM to store registered point clouds. Sudo aptitude install ros-diamondback-openni-kinectĬheckout hogman_minimal somewhere in your $ROS_PACKAGE_PATH:Ĭheckout the RGBDSLAM source code somewhere in your $ROS_PACKAGE_PATH RGBDSLAM has been developed and tested on Ubuntu only. Otherwise please refer to the ROS installation instructions. The following instructions assume you have ROS Diamondback installed in the Desktop-Full configuration. See rgbdslam/evaluation for instructions on how to install and evaluate the latest RGB-D SLAM release with the RGB-D Benchmark Dataset
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