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FrameViewer has fixed window size, ROS mono takes image_topic as argument #788

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FrameViewer has fixed window size, ROS mono takes image_topic as argument #788

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ab24179
will make frameViewer to 640,480 fixed size window, ROS Mono exmaple …
mithundiddi Jul 16, 2019
8e71bee
will update ReadMe for ROS MONO version, passing image_topic as argument
mithundiddi Jul 16, 2019
7129c71
add boost libs to ros example cmakelists to avoid build error
mithundiddi Feb 3, 2020
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ Examples/Monocular/mono_tum
Examples/RGB-D/rgbd_tum
Examples/ROS/ORB_SLAM2/CMakeLists.txt.user
Examples/ROS/ORB_SLAM2/Mono
Examples/ROS/ORB_SLAM2/flir.yaml
Examples/ROS/ORB_SLAM2/MonoAR
Examples/ROS/ORB_SLAM2/RGBD
Examples/ROS/ORB_SLAM2/Stereo
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3 changes: 3 additions & 0 deletions Examples/ROS/ORB_SLAM2/CMakeLists.txt
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Expand Up @@ -40,6 +40,7 @@ endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(Boost COMPONENTS system filesystem REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
Expand All @@ -52,6 +53,8 @@ set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${Boost_SYSTEM_LIBRARY}
${Boost_FILESYSTEM_LIBRARY}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
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4 changes: 2 additions & 2 deletions Examples/ROS/ORB_SLAM2/src/ros_mono.cc
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Expand Up @@ -48,7 +48,7 @@ int main(int argc, char **argv)
ros::init(argc, argv, "Mono");
ros::start();

if(argc != 3)
if(argc != 4)
{
cerr << endl << "Usage: rosrun ORB_SLAM2 Mono path_to_vocabulary path_to_settings" << endl;
ros::shutdown();
Expand All @@ -61,7 +61,7 @@ int main(int argc, char **argv)
ImageGrabber igb(&SLAM);

ros::NodeHandle nodeHandler;
ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb);
ros::Subscriber sub = nodeHandler.subscribe(argv[3], 1, &ImageGrabber::GrabImage,&igb);

ros::spin();

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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -186,7 +186,7 @@ This will create **libORB_SLAM2.so** at *lib* folder and the executables **mono
For a monocular input from topic `/camera/image_raw` run node ORB_SLAM2/Mono. You will need to provide the vocabulary file and a settings file. See the monocular examples above.

```
rosrun ORB_SLAM2 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE
rosrun ORB_SLAM2 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE NAME_OF_IMAGE_TOPIC
```

### Running Monocular Augmented Reality Demo
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5 changes: 3 additions & 2 deletions src/FrameDrawer.cc
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Expand Up @@ -121,8 +121,9 @@ cv::Mat FrameDrawer::DrawFrame()

cv::Mat imWithInfo;
DrawTextInfo(im,state, imWithInfo);

return imWithInfo;
cv::Mat imWithInfoResized = cv::Mat(480,640,CV_8UC3, cv::Scalar(0,0,0));
cv::resize(imWithInfo, imWithInfoResized, imWithInfoResized.size(), 0, 0, CV_INTER_AREA);
return imWithInfoResized;
}


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