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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]

原网站

版权声明
本文为[蓝羽飞鸟]所创，转载请带上原文链接，感谢
https://blog.csdn.net/level_code/article/details/125655642

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