# ORB_SLAM3_Grid_Mapping

**Repository Path**: sky313947/ORB_SLAM3_Grid_Mapping

## Basic Information

- **Project Name**: ORB_SLAM3_Grid_Mapping
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-05-25
- **Last Updated**: 2025-05-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ORB_SLAM3_Grid_Mapping
A modified version of ORB-SLAM3 which can create 2D grid map online or offline for AGV navigation.

# Instruction

## Offline
1. `./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /PATH_TO_KITTI/KITTI/00`
2. `pip install transforms3d`
3. `python pointCloudToGridMap2D.py`

## Online
### Dataset
1. In the terminal, run:

`roscore`.

2. Open a new terminal, run:

`rosrun ORB_SLAM3 Monosub 5 3 29 -25 48 -12 0.55 0.50 1 5`.

3. In another terminal, run:

`rosrun ORB_SLAM3 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /PATH_TO_KITTI/KITTI/00 0`.

### Rosbag
1. In the terminal, run:

`roscore`.

2. Open a new terminal, run: 

`rosrun ORB_SLAM3 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/mono.yaml -1 /camera/image_raw`.

3. In another terminal, run:

`rosrun ORB_SLAM3 Monosub 30 5 2 -2 2 -2 0.55 0.50 1 5`.

4. One more terminal, run:

`rosbag play /PATH_TO_ROSBAG/bags/xxx.bag -r 0.5`.

### Your Own Camera
1. In the terminal, run:

`roscore`.

2. Open a new terminal, run: 

`rosrun ORB_SLAM3 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/mono.yaml -1 /usb_cam/image_raw`.

3. In another terminal, run:

`rosrun ORB_SLAM3 Monosub 30 5 2 -2 2 -2 0.55 0.50 1 5`.

4. One more terminal, run:

`roslaunch usb_cam-test.launch`.