slam主要代码

运行单目ORB2-slam:   1 roscd ORB_SLAM2 
2：



rosrun ORB_SLAM2 Mono /home/finch/SLAM/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/finch/SLAM/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asus.yaml 

运行摄像头: cd /wless
source ./devep/setup.bash
roslaunch my_serial_port cam.launch

无线手柄版本:
roslaunch my_serial_port wless1.launch


双目：
//rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml true//没用

rosrun ORB_SLAM2 Stereo /home/finch/SLAM/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/finch/SLAM/src/ORB_SLAM2/Examples/Stereo/EuRoC.yaml true

摄像头	

：
/home/finch/tools/zed
source ./de..
roslaunch zed_wrapper zed.launch

..............................................................lsd

运行摄像头: cd /wless
source ./devep/setup.bash
roslaunch my_serial_port cam.launch

lsd slam
/home/finch/lsd-slam/package-dir

rosrun lsd_slam_viewer viewer

本机摄像头
rosrun lsd_slam_core live_slam image:=/camera/image_raw _calib:=/home/finch/cam.yaml
USB摄像头
rosrun lsd_slam_core live_slam image:=/camera/image_raw _calib:=/home/finch/cam1.yaml


rosrun lsd_slam_core live_slam image:=/camera/image_rawimage_raw _calib:=/home/finch/cam.yaml _calib:=/home/finch/cam3.yaml camera_info:=/camera_info

rosbag play /home/finch/LSD_room.bag

#### Calibration File for OpenCV camera model:

    fx fy cx cy k1 k2 p1 p2
    inputWidth inputHeight
    "crop" / "full" / "none" / "e1 e2 e3 e4 0"
    outputWidth outputHeight


-----------------------------------------------------------------map v1
本机摄像头
rosrun ORB_SLAM2 Zed /home/finch/SLAM/src/ORB_SLAM2/Vocabulary/ORBvoc.bin /home/finch/SLAM/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asuscam0.yaml 0
USB1
rosrun ORB_SLAM2 Zed /home/finch/SLAM/src/ORB_SLAM2/Vocabulary/ORBvoc.bin /home/finch/SLAM/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asuscam1.yaml 0


///////////////////////////////////////////////////////////////////map v2
载入地图
 rosrun ORB_SLAM2 Mono /home/finch/SLAM/src/ORB_SLAM2/Vocabulary/ORBvoc.bin /home/finch/SLAM/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asuscam0.yaml 0
都区地图 目前不能用
 rosrun ORB_SLAM2 Mono /home/finch/SLAM/src/ORB_SLAM2/Vocabulary/ORBvoc.bin /home/finch/SLAM/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asuscam0.yaml true