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Semantic SLAM源码解析
2022-07-07 17:37:00 【蓝羽飞鸟】
对应github: https://github.com/floatlazer/semantic_slam
这个语义SLAM建图是基于ROS的
下面上源码解析：
首先从semantic_cloud.py出发，这里接收相机读入的topic, 会得到RGB图和深度图，
同时会起orb_slam2计算位姿，我们这里不讨论orb_slam2的算法细节，那是另一个大话题了。
node: semantic_cloud:
point_type = PointType.SEMANTICS_MAX
self.mean = np.array([104.00699, 116.66877, 122.67892]边栏推荐
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