# ORB-SLAM2 Running on IP camera
###### tags: `Robotics`

Using ip camera: 192.168.0.194:3333
Connect to **robot** wifi

### 1. Camera calibration using ROS
* Implementation: [Ref1](http://wiki.ros.org/camera_calibration) [Ref2](http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration)

* Theory: [Ref3](http://silverwind1982.pixnet.net/blog/post/153218861-pinhole-camera%3A-%E7%9B%B8%E6%A9%9F%E6%A0%A1%E6%AD%A3-%28camera-calibration%29) [Ref4](http://silverwind1982.pixnet.net/blog/post/144982784#CM)

* Results are shown in **ipcam_194.yaml**

### 2. Run ipcam.py
* `$ roscore`
* `$ python ipcam.py`
* username: admin
* no password
* image topic: /camera/image_raw
* Turn on rviz to check

### 3. Run ORB-SLAM2
* `$ rosrun ORB_SLAM2 Mono /home/robot/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/robot/ORB_SLAM2/Examples/Monocular/ipcam_194.yaml`