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rtabmap
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roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link kinect2_link 100
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd/image_color_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info approx_sync:=false
kitti2bag使用方法：
kitti2bag -t 2011_09_26 -r 0002 raw_synced .
不带雷达的数据：
$ roslaunch rtabmap_ros rtabmap.launch stereo:="true" left_image_topic:=/kitti/camera_color_left/image_raw right_image_topic:=/kitti/camera_color_right/image_raw left_camera_info_topic:=/kitti/camera_color_left/camera_info right_camera_info_topic:=/kitti/camera_color_right/camera_info rtabmap_args:="--delete_db_on_start" approx_sync:=true use_sim_time:=true frame_id:=base_link
$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag
带雷达数据：
$ roslaunch rtabmap_ros rtabmap.launch stereo:="true" left_image_topic:=/kitti/camera_color_left/image_raw right_image_topic:=/kitti/camera_color_right/image_raw left_camera_info_topic:=/kitti/camera_color_left/camera_info right_camera_info_topic:=/kitti/camera_color_right/camera_info rtabmap_args:="--delete_db_on_start" approx_sync:=true use_sim_time:=true frame_id:=base_link rgbd_sync:=true approx_rgbd_sync:=true subscribe_scan_cloud:=true scan_cloud_topic:=/kitti/velo/pointcloud
$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag
orbslam2 rtabmap：
$ roslaunch rtabmap_ros orbrtabmap.launch stereo:="true" left_image_topic:=/kitti/camera_color_left/image_raw right_image_topic:=/kitti/camera_color_right/image_raw left_camera_info_topic:=/kitti/camera_color_left/camera_info right_camera_info_topic:=/kitti/camera_color_right/camera_info rtabmap_args:="--delete_db_on_start" approx_sync:=true use_sim_time:=true frame_id:=base_link
$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag
rosbag play --clock kitti_2011_09_29_drive_0071_synced.bag
新的rosbag：
roslaunch rtabmap_ros rtabmap.launch stereo:="true" left_image_topic:=/cam02/image_raw right_image_topic:=/cam03/image_raw left_camera_info_topic:=/cam02/camera_info right_camera_info_topic:=/cam03/camera_info rtabmap_args:="--delete_db_on_start" approx_sync:=true use_sim_time:=true frame_id:=base_link
rosbag play --clock testv1.bag
roslaunch rtabmap_ros rosbagorb.launch stereo:="true" left_image_topic:=/kitti/camera_color_left/image_raw right_image_topic:=/kitti/camera_color_right/image_raw left_camera_info_topic:=/kitti/camera_color_left/camera_info right_camera_info_topic:=/kitti/camera_color_right/camera_info rtabmap_args:="--delete_db_on_start" approx_sync:=true use_sim_time:=true frame_id:=base_link
roslaunch rtabmap_ros rosbag4g.launch stereo:="true" left_image_topic:=/kitti/camera_color_left/image_raw right_image_topic:=/kitti/camera_color_right/image_raw left_camera_info_topic:=/kitti/camera_color_left/camera_info right_camera_info_topic:=/kitti/camera_color_right/camera_info rtabmap_args:="--delete_db_on_start" approx_sync:=true use_sim_time:=true frame_id:=base_link
roslaunch rtabmap_ros rosbagtestv1.launch stereo:="true" left_image_topic:=/kitti/camera_color_left/image_raw right_image_topic:=/kitti/camera_color_right/image_raw left_camera_info_topic:=/kitti/camera_color_left/camera_info right_camera_info_topic:=/kitti/camera_color_right/camera_info rtabmap_args:="--delete_db_on_start" approx_sync:=true use_sim_time:=true frame_id:=cam02