https://github.com/cggos/rgbdslam_cg
根据高翔博客《一起做RGB-D SLAM》，从零搭建 RGBD-SLAM
https://github.com/cggos/rgbdslam_cg
rgbdslam vslam
Last synced: 3 months ago
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根据高翔博客《一起做RGB-D SLAM》，从零搭建 RGBD-SLAM
- Host: GitHub
- URL: https://github.com/cggos/rgbdslam_cg
- Owner: cggos
- Created: 2020-04-26T15:22:41.000Z (about 6 years ago)
- Default Branch: master
- Last Pushed: 2020-04-26T15:47:08.000Z (about 6 years ago)
- Last Synced: 2025-01-15T00:34:17.286Z (over 1 year ago)
- Topics: rgbdslam, vslam
- Language: CMake
- Homepage:
- Size: 1.27 MB
- Stars: 1
- Watchers: 3
- Forks: 3
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# rgbdslam_cg
根据高翔博客 [一起做RGB-D SLAM](https://www.cnblogs.com/gaoxiang12/tag/%E4%B8%80%E8%B5%B7%E5%81%9ARGB-D%20SLAM/)（其代码在 [gaoxiang12/rgbd-slam-tutorial-gx](https://github.com/gaoxiang12/rgbd-slam-tutorial-gx)），从零搭建 RGBD-SLAM。
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# Dependencies
* Eigen3
* OpenCV3
* PCL 1.7
* G2O (the lastest version)
# Build
```sh
mkdir build & cd build
cmake ..
make -j2
```
# Run
```sh
cd build
../bin/generate_pointcloud
../bin/detect_features
../bin/join_pointcloud
../bin/visual_odometry
../bin/rgbdslam
```
# Result
* result of `bin/visual_odometry`
* `g2o_viewer result_after.g2o`, the result of `bin/rgbdslam`
