https://www.bilibili.com/video/av59793400?from=search&seid=12598277376962486068
- Ubuntu 16.04 (Some problems in Ubuntu 18)
- ROS Kinetic
- Cuda 11.3
- Cudnn 7
- Caffe (SegNet)
- Eigen 3
- OpenCV 3
- [optional] docker and nvidia-docker
git clone https://github.com/yubaoliu/caffe-segnet.git
cd caffe-segnet
mkdir build
cd build
cmake .. -CMAKE_INSTALL_PREFIX=/usr/local
make & make installgit clone https://github.com/yubaoliu/DS-SLAM.gitexport ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$HOME/catkin_ws/src/DS-SLAM/Examples/ROS/ORB_SLAM2_PointMap_SegNetMsegnet_pascal.caffemodel
http://mi.eng.cam.ac.uk/~agk34/resources/SegNet/segnet_pascal.caffemodel
or
gdlink 'https://drive.google.com/uc\?export\=download\&id\=1KzyEpaLovCyDKEj-LkAGTT6l-s3IRpSG' | xargs -n1 wget -c -O ./segnet_pascal.caffemodel
https://drive.google.com/file/d/1KzyEpaLovCyDKEj-LkAGTT6l-s3IRpSG/view?usp=sharingPlease download and place the folder in the same path with the folder of prototxts and tools.
docker-compose build
docker-compose up
- Enable display
xhost +local:root - Build Octomap Server
cd /root/catkin_ws
source /opt/ros/kinetic/setup.zsh
catkin_make
source /root/catkin_ws/devel/setup.zsh- Build SLAM
cd /root/catkin_ws/src/DS-SLAM
DS_SLAM_BUILD.sh- Run demo Customize dataset and associate path in launch file
- dataset
- associate
- model
roslaunch docker_demo.launch