Questions about showing result

[yubaoliu]

I'm trying to run
roslaunch DS_SLAM_TUM.launch
using rgbd_dataset_freiburg3_walking_xyz dataset

I got this result:


$ rostopic list /Camera_Odom /Camera_Pose /ORB_SLAM2_PointMap_SegNetM/Point_Clouds /clicked_point /free_cells_vis_array /initialpose /move_base_simple/goal /occupied_cells_vis_array /octomap_binary /octomap_full /octomap_point_cloud_centers /octomap_server/parameter_descriptions /octomap_server/parameter_updates /odom /point_cloud /projected_map /rosout /rosout_agg /tf /tf_static

`Wait for new RGB img time =
process time =16.7728
wait for new segment img time =0.000384
check time =0.039342
SLAM TrackRGBD all time =45.6625

Wait for new RGB img time =
process time =15.2025
wait for new segment img time =0.000377
check time =0.045316
SLAM TrackRGBD all time =49.9497

---

`

Then, I have some questions:

1. How can I check RGB images?
2. How can I check the segmentation result or the result after outlier removed by RGB images in real time?
3. How can I use the kinetic v2 camera or realsense camera to run it in real time? Is there any sample code?

Thanks

[yubaoliu]

Solved

Thanks

[Dongdong-NEU]

Solved

Thanks

您好，请问您实现了在线接入相机实时运行了吗？我现在只可以用azure录个rosbag 转成TUM数据集格式使用这个算法😂