Semantic slam source code analysis

Corresponding github: https://github.com/floatlazer/semantic_slam

This meaning SLAM The mapping is based on ROS Of
Here is the source code analysis ：

First of all, from the semantic_cloud.py set out , Here the camera reads topic, You'll get RGB And depth maps ,
At the same time orb_slam2 Calculate the pose , We won't discuss it here orb_slam2 Algorithm details , That's another big story .

node: semantic_cloud:

point_type = PointType.SEMANTICS_MAX
self.mean = np.array([104.00699, 116.66877, 122.67892]