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semanticmapping's Introduction

Based on orb_slam3_ros

Requierments

  • Ubuntu 20.04
  • PCL 1.8
  • OpenCV 4.5.2 (With CUDA Build)
  • Pangolin
  • Boost
  • CUDA 11.6
  • Libtorch 1.12.1+cu116 (cxx11-abi) (Option)
  • TensorRT
  • ZED SDK (Option)
  • Realsense SDK (Option)

Ref

https://blog.csdn.net/weixin_51925771/article/details/118405623

https://blog.csdn.net/hai_fellow_Z/article/details/123681382

Run

Camera and IMU Calibration

Follow that Link

Note

# ZED 2 run
roslaunch zed_wrapper zed2.launch
# Object SLAM run
roslaunch object_slam slam_rgbd_zed.launch

# D435i run
roslaunch object_slam realsense_d435i.launch
# Object SLAM run
roslaunch object_slam d435i_rgbd_slam.launch

semanticmapping's People

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