ORB_SLAM2_Modified点云地图保存+ROS环境

如何对pcd文件进行编辑：现在有一份pcd点云文件，怎样在unity3d里根据点云文件重建出模型? - 知乎

稠密重建之后的地图保存：高翔ORB-SLAM2稠密建图编译（添加实时彩色点云地图+保存点云地图）_m0_60355964的博客-CSDN博客_orbslam2点云地图^v46^pc_rank_34_1&utm_term=ubuntu18.04%E7%A8%A0%E5%AF%86%E7%82%B9%E4%BA%91%E5%BB%BA%E5%9B%BE&spm=1018.2226.3001.4187

三维重建的数据集：Tanks and Temples Benchmark

使用realsense D455进行录像并保存：【工具篇】使用realsense D455的RGB摄像头进行录像并保存_淮gg的博客-CSDN博客

ubuntu20.04 安装ROS-NOETIC

参考链接：Ubuntu20.04配置安装ros并简单运行详细步骤-蒲公英云

详细介绍如何在ubuntu20.04中安装ROS系统

• 编辑sources.list文件

1. sudo vim /etc/apt/sources.list

将sources.list里面的内容更改为（阿里源，官网可以看到其他的源）：

1. deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse

2. deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse

3. deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse

4. deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse

5. deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse

6. deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse

7. deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

8. deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

9. deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse

10. deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse

• 更新列表

1. sudo apt-get update

2. sudo apt-get upgrade

• 配置ROS

1. sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3. sudo apt update

4. sudo apt install ros-noetic-desktop-full

5. source /opt/ros/noetic/setup.bash

6. echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

7. source ~/.bashrc

• 小海龟测试

测试需要打开三个新的命令行窗口：

窗口1：

1. roscore

窗口2：

1. rosrun turtlesim turtlesim_node

窗口3:

1. rosrun turtlesim turtle_teleop_key

测试效果如下图

 

ubuntu20.04装realsense D455驱动

Ubuntu20.04+RealSense D455_aizi0216的博客-CSDN博客