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https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map
https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map
Last synced: 3 months ago
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- Host: GitHub
- URL: https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map
- Owner: gaoxiang12
- Created: 2016-05-26T09:02:22.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2022-08-17T06:26:52.000Z (over 2 years ago)
- Last Synced: 2024-08-02T07:06:43.405Z (6 months ago)
- Language: C++
- Size: 7.8 MB
- Stars: 836
- Watchers: 23
- Forks: 346
- Open Issues: 36
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
- Awesome-SLAM - ORBSLAM2_with_pointcloud_map
- awesome-slam - ORBSLAM2_with_pointcloud_map
- awesome-slam - ORBSLAM2_with_pointcloud_map
README
# ORBSLAM2_with_pointcloud_map
This 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.
# How to Install
Unzip the file you will find two directories. First compile the modified g2o:
```
cd g2o_with_orbslam2
mkdir build
cd build
cmake ..
make
```
Following 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.
Then 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:
```
cd ORB_SLAM2_modified
mkdir build
cd build
cmake ..
make
```
To 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.
# Run examples
Prepare 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.
# Build the unpacked modified repo
please see this [README](./ORB_SLAM2_modified/README.md)