The exercise is the following http://profs.scienze.univr.it/~bloisi/corsi/homework/homework-3.pdf (Italian)
You need ROS Kinetic installed and working
Create a new folder
mkdir git && cd git
Download and install Pangolin with
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .
cd ..
Clone and setup my repository
git clone https://github.com/edoardopieropan/ros_homework3.git
cd ORB_SLAM2
./build.sh
./build_ros.sh
You can now download the V1_01_easy.bag
Now run bash run.sh,three terminals will pop up. In a few seconds you will see a window waiting for an input. Select the bag terminal that is in pause and press SPACEBAR. Now the preovious cited window will make a pointcloud of the bag video.
This modified vestion of ORB_SLAM2 let you automatically save the pointcloud in a .pcd format at the end of the execution of the bag.
You can now see the pointcloud:
pcl_viewer pointcloud.pcd
A guide how i did is can be found at https://medium.com/@j.zijlmans/orb-slam-2052515bd84c
Video of the pointcloud in 3D:
Some screeshots:
Run bash build_cluster.sh then by ./cluster_extraction pointcloud.pcd [value] you can see new files .pcd that are the Euclidean Cluster Extraction of the pointcloud.
Example: ./cluster_extraction pointcloud.pcd 0.28
To see those files run
pcl_viewer cloud_cluster_0.pcd cloud_cluster_1.pcd cloud_cluster_2.pcd cloud_cluster_3.pcd cloud_cluster_4.pcd
Follow this guide: http://www.pointclouds.org/documentation/tutorials/cluster_extraction.php
With value 0.28
With value 0.30
Before use it I invite you to read the LICENSE
This file is distributed under the terms of the GNU Lesser General Public License (Lesser GPL)
Visit http://www.gnu.org/licenses/
Laboratorio Ciberfisico
Robot Programming with ROS
A.Y. 2017/2018
University of Verona (Italy)
Repository Author:
Edoardo Pieropan