Preparation: Remap topic from D435i to rtabmap Feed the odometry to rtabmap In the rqt_graph of vins_estimator, topic /vins_estimator/odometry is what rtabmap needs. Running Launch rtabmap: roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete…

### First shot Copy the .launch file in package VINS-Fusion to the directory of realsense2_cameara/launch $ cp /home/william/catkin_ws/src/VINS-Fusion/config/realsense_d435i/rs_camera.launch /home/william/catkin_ws/src/realsense-2.1.3/realsense2_came…

$ roslaunch rtabmap_ros euroc_datasets.launch args:="-d RGBD/CreateOccupancyGrid false Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml" MH_seq:=true raw_images_for_odom:=true $ cd ~/Downl…

参考: [1] Realsense-Ros: https://github.com/IntelRealSense/realsense-ros#installation-instructions [2] librealsense: https://github.com/IntelRealSense/librealsense 注意:realsense-ros 要和 librealsense 版本匹配,realsense-ros 2.2.7 对应的 Realsense SDK 为 librealsen…

Selecting Windows SDK version 10.0.17134.0 to target Windows 10.0.18362. Internet connection identified Info: REALSENSE_VERSION_STRING=2.29.0 Setting Windows configurations using RS2_USE_WMF_BACKEND GLFW 3.3 not found; using internal version Could NO…

1. ORK 网址:https://wg-perception.github.io/object_recognition_core/ ORK (Object Recognition Kitchen) 是 ROS 集成的物体识别库,当前 Kinetic 版本的 ROS 只集成了部分功能包的二进制安装文件,所以需通过源码编译安装. 安装依赖库 sudo apt-get install meshlab sudo apt-get install libosmesa6-dev sudo apt-get i…

  近期Visual Studio推出Mac版本号的消息迅速在技术圈里刷屏,当project师们最喜欢的笔记本电脑Mac,邂逅地球上最强大的集成开发环境Visual Studio的时候,会碰撞出如何精彩的火花呢?在微软新任CEO纳德拉的"移动为先.云为先"战略下,微软的转变渐渐開始让人欣喜.从.NET Core.VSCode.TypeScript再到近期的Visual Studio For Mac,这一系列动作让我们感觉到.微软的技术栈越来越多地向着开源和跨平台两个方向努力. 我们曾经…

How to install Kalibr I was confused about installing Kalibr, but there is no even one hint in README.md. I just put them in the catkin_ws, in which so many ROS packages are also there. Unsuccessfully, it can't be compiled one by one packages by the…

三维视觉惯性SLAM的有效Schmidt-EKF An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM 论文地址: http://openaccess.thecvf.com/content_CVPR_2019/papers/Geneva_An_Efficient_Schmidt-EKF_for_3D_Visual-Inertial_SLAM_CVPR_2019_paper.pdf 摘要 为移动和可穿戴传感器系统实现厘米级精确定位具有重要的实际应用…

star@xmatrix:~$ lshwWARNING: you should run this program as super-user.xmatrix                       description: Computer    width: 64 bits    capabilities: vsyscall32  *-core       description: Motherboard       physical id: 0     *-memory         …