利用位姿估计器输出的Tcw信息对图像帧进行拼接生成全局点云（c++）

# 点云建图 该ros包需要配合我们修改过的ORB-SLAM2进行使用（使用分支V1.0.0），由ORB-SLAM2或者其他的位姿估计节点输出相机的位姿，该节点接受彩色图与深度图生成点云，根据位姿估计器输出的相机位姿Tcw对局部点云进行拼接。 详细的教程请参考csdn博客系列教程：[ORB-SLAM2 在线构建稠密点云](https://blog.csdn.net/crp997576280/article/details/88899163)  使用说明 ``` git clone https://github.com/RuPingCen/pointcloud_mapping.git 　 roslaunch pointcloud_mapping pointcloud_mapping.launch ``` # Useage of Distribute SLAM 1. clone the pose estimater node (This is an extended ORB-SLAM2 system) ``` cd catkin_ws/src git clone https://github.com/RuPingCen/ORB-SLAM2.git cd ORB_SLAM2 ./build.sh ./build_ros.sh ``` 2. clone the mapping node and elas lib note: the elas-lib is used for calculate the disparity from the stereo camera ``` cd catkin_ws/src git clone https://github.com/RuPingCen/pointcloud_mapping.git git clone https://github.com/jeffdelmerico/cyphy-elas-ros.git ``` 3. build workspace ``` cd catkin_ws catkin_make ``` ## RGBD Model 1. download the TUM rosbag form the [website](https://vision.in.tum.de/data/datasets/rgbd-dataset), then open a terminal and play the rosbag ``` rosbag play rgbd_dataset_freiburg1_room.bag ``` 2. launch the pose estimator ``` export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/YOUR-PATH/ORB_SLAM2/Examples/ROS rosrun ORB_SLAM2 astra Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM2/TUM1_ROSbag.yaml ``` 3. launch the mapping node with launch file ``` cd catkin_ws/src source devel/setup.bash roslaunch pointcloud_mapping tum1.launch ```  ## STEREO Model 1. download the KITTI images form the [website](http://www.cvlibs.net/datasets/kitti/eval_odometry.php), then the python script is used to convert the images to rosbag. ``` roslaunch publish_image_datasets publish_kitti.launch ``` 2. launch the pose estimator ``` export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/YOUR-PATH/ORB_SLAM2/Examples/ROS rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/KITTI00-02.yaml false ``` 3. launch the mapping node with launch file ``` cd catkin_ws/src source devel/setup.bash roslaunch elas_ros kitti_no_rviz.launch roslaunch pointcloud_mapping kitti.launch ``` This is a demo on KITTI dataset [demo STEREO](https://youtu.be/T7gtojA4-os)  ## Mick robot The Mick is a home-made diff-wheeled car, equipped with ZED binocular camera. This is a demo on Mick [demo STEREO](https://www.youtube.com/watch?v=OMDPEMi6yoA)