This project is used for RGBD camera to generate virtual AR. In ROS environment, Realsensed435i camera can be equipped to run Mono, Stereo, RGBD, and Mono_AR, RGBD_ AR, and can be tested on the TUM dataset.

1. Prerequisites

At first, you should build the workspace You should have:

eigen for version 3
Pangolin for version 0.6
opencv for version 3.2.0
ros for melodic

Then establishing a workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
git clone https://github.com/xfDing815/ORBSLAM2_RGBD_AR.git ORB_SLAM2

2. Clone the repository:

git clone https://github.com/xfDing815/ORBSLAM2_RGBD_AR.git ORB_SLAM2

3.From https://github.com/raulmur/ORB_SLAM2 to download Vocabulary

move the Vocabulary into ORB_SLAM2

4. Build

chmod +x build.sh build_ros.sh
./build.sh
./build_ros.sh

5. Run this demo with the rgbd-dataset

roscore
rosrun ORB_SLAM2 RGBDAR Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1_ROS.yaml
rosbag play rgbd_dataset_freiburg1_room.bag /camera/rgb/image_color:=/camera/rgb/image_raw /camera/depth/image:=/camera/depth_registered/image_raw