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 -0500

Astronaut gravatar image

updated 2018-05-31 22:10:37 -0500

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

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