无人机机载摄像头构建建筑物 3D 模型"/>
通过无人机机载摄像头构建建筑物 3D 模型
《一》实现步骤:
(1)启动 Gazebo 模拟器;
(2)起飞无人机并开始录制一个 rosbag;
(3)控制无人机围绕建筑物绕圆周飞行一圈;
(4)停止 rosbag 录制并使用提供的脚本提取图片;
(5)使用提供的网站构建模型
前期准备:
(1)更新GAAS
1)改变路径到GAAS 所在的路径或者在GAAS 打开终端
cd /home/yyl/catkin_ws/GAAS
2)更新
git pull origin master
3)将 Gazebo 仿真用到的文件拷贝到 PX4 文件所在目录中
cp -r /home/yyl/catkin_ws/GAAS/simulator/launch/* ~/catkin_ws/src/Firmware/launch/
cp -r /home/yyl/catkin_ws/GAAS/simulator/models/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/models/
cp -r /home/yyl/catkin_ws/GAAS/simulator/worlds/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds/
cp -r /home/yyl/catkin_ws/GAAS/simulator/posix-config/* ~/catkin_ws/src/Firmware/posix-configs/SITL/init/ekf2/
《二》启动仿真
roslaunch px4 sfm.launch
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通过无人机机载摄像头构建建筑物 3D 模型
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