ORBSLAM2-Combined-with-VOXBLOX

Introduction

This work is based on ORB_SLAM2, ORB_SLAM2_ROS and Voxblox. Thanks for Rual and Helen's great work.

Using this pipeline, you can generate real time mesh on a CPU-based PC. A demo is shown here.

Installation

Please refer to ORB_SLAM2 installation page and Voxblox installation page.

How to use

• If you are using primesense: -Open 4 terminals. Input

  roslaunch openni2_launch openni2.launch
  roslaunch orb_slam_2_ros run_orb_slam_2.launch
  roslaunch voxblox_ros try.launch
  rosrun rviz rviz
  

  • To save the mesh: Open another terminal. Use rosservice call /voxblox_node/generate_mesh "{}"

  • To change mesh into point cloud:

cd ~/catkin_ws123/testing
pcl_ply2pcd 1.ply 1.pcd
./build/meshp

• If you are using Kinect: The only difference is in first step.
  • Open 4 terminals. Input:

roslaunch freenect_launch freenect.launch
roslaunch orb_slam_2_ros run_orb_slam_2.launch
roslaunch voxblox_ros try.launch
rosrun rviz rviz

• If you want to change voxel size, go your location/catkin_ws123/src/voxblox/voxblox_ros/launch/try.launch. Modify the following:

 <arg name="voxel_size" default="0.01"/> # This is for defining the voxel size
 <param name="mesh_filename" value="/home/catkin_ws123/testing/1.ply" /> #this is the output location