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how to builde a map in a real time using orbslam2?

orbslam2
map

asked 2016-03-27 22:05:46 -0500

xiqing
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hi :

i want to use the orbslam2 to do an experiment about monocular. In the system there are some examples about how to use image sequences to do the experiment. But i want to do it with a real-time camera, witch means that don't need to get the image sequences first but try to get it from the camera in the real-time. So what should i do?

thank you very much! your answer is very important!

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answered 2016-04-18 22:04:51 -0500

highlightz
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You may need the following two steps: First, you launch a camera driver node, which publishes image topic. Meanwhile, the raw image topic should be rectified with image_proc node, which may need a calibration file provided by you. 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.

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Asked: 2016-03-27 22:05:46 -0500

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Last updated: Apr 18 '16

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how to builde a map in a real time using orbslam2?