{"id":13528482,"url":"https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map","last_synced_at":"2025-04-01T13:33:02.492Z","repository":{"id":41579683,"uuid":"59735789","full_name":"gaoxiang12/ORBSLAM2_with_pointcloud_map","owner":"gaoxiang12","description":null,"archived":false,"fork":false,"pushed_at":"2022-08-17T06:26:52.000Z","size":8183,"stargazers_count":894,"open_issues_count":38,"forks_count":345,"subscribers_count":22,"default_branch":"master","last_synced_at":"2025-03-27T18:12:54.975Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/gaoxiang12.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2016-05-26T09:02:22.000Z","updated_at":"2025-03-26T16:45:52.000Z","dependencies_parsed_at":"2022-07-13T08:10:56.048Z","dependency_job_id":null,"html_url":"https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gaoxiang12%2FORBSLAM2_with_pointcloud_map","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gaoxiang12%2FORBSLAM2_with_pointcloud_map/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gaoxiang12%2FORBSLAM2_with_pointcloud_map/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gaoxiang12%2FORBSLAM2_with_pointcloud_map/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/gaoxiang12","download_url":"https://codeload.github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":246647783,"owners_count":20811385,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-08-01T07:00:19.918Z","updated_at":"2025-04-01T13:33:01.317Z","avatar_url":"https://github.com/gaoxiang12.png","language":"C++","funding_links":[],"categories":["2. Visual SLAM","ORB-SLAM2 related codes","Softwares and Libraries"],"sub_categories":["2.3 Stereo","改进方法"],"readme":"# ORBSLAM2_with_pointcloud_map\nThis is a modified ORB_SLAM2 (from https://github.com/raulmur/ORB_SLAM2, thanks for Raul's great work!) with a online point cloud map module running in RGB-D mode. You can visualize your point cloud map during the SLAM process. \n\n# How to Install\nUnzip the file you will find two directories. First compile the modified g2o:\n\n```\n  cd g2o_with_orbslam2\n  mkdir build\n  cd build\n  cmake ..\n  make \n```\n\nFollowing the instructions from the original g2o library: [https://github.com/RainerKuemmerle/g2o] if you have dependency problems. I just add the extra vertecies and edges provided in ORB_SLAM2 into g2o. \n\nThen compile the ORB_SLAM2. You need firstly to compile the DBoW2 in ORB_SLAM2_modified/Thirdpary, and then the Pangolin module (https://github.com/stevenlovegrove/Pangolin). Finally, build ORB_SLAM2:\n\n```\ncd ORB_SLAM2_modified\nmkdir build\ncd build\ncmake ..\nmake\n```\n\nTo run the program you also need to download the ORB vocabulary (which is a large file so I don't upload it) in the original ORB_SLAM2 repository.\n\n# Run examples\nPrepare a RGBD camera or dataset, give the correct parameters and you can get a ORB SLAM with point cloud maps like the example.jpg in this repo.\n\n# Build the unpacked modified repo \n\nplease see this [README](./ORB_SLAM2_modified/README.md)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgaoxiang12%2FORBSLAM2_with_pointcloud_map","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgaoxiang12%2FORBSLAM2_with_pointcloud_map","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgaoxiang12%2FORBSLAM2_with_pointcloud_map/lists"}