https://github.com/xiaobainixi/ORB-SLAM2_RGBD_DENSE_MAP

This repository is modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model.
https://github.com/xiaobainixi/ORB-SLAM2_RGBD_DENSE_MAP

Last synced: 7 days ago
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This repository is modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model.

• Host: GitHub
• URL: https://github.com/xiaobainixi/ORB-SLAM2_RGBD_DENSE_MAP
• Owner: xiaobainixi
• License: other
• Created: 2018-08-23T08:45:22.000Z (about 6 years ago)
• Default Branch: master
• Last Pushed: 2019-03-21T05:11:15.000Z (over 5 years ago)
• Last Synced: 2023-10-20T23:52:44.064Z (about 1 year ago)
• Language: C++
• Size: 6.76 MB
• Stars: 338
• Watchers: 3
• Forks: 92
• Open Issues: 13
• Metadata Files:
  • Readme: README.md
  • License: LICENSE.txt

Awesome Lists containing this project

• awesome-slam - ORB-SLAM2_RGBD_DENSE_MAP,modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model
• awesome-slam - ORB-SLAM2_RGBD_DENSE_MAP,modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model

README

        
# Update for unpacked ROB_SLAM with pcl view repo

## build:

### build the whole project ( inclouding binary loading tools ):

Before all the cmd, **DONOT** forget to download the Vocabulary form the [origin repo](https://github.com/raulmur/ORB_SLAM2) and place it into dir ./Vocabulary

```bash

     chmod +x build.sh

     ./build.sh

```

### only build the ORB_SLAM2 mode with pcl

```bash

    mkdir build

    cd build

    cmake ..

    make -j

```

## Run:

```bash

    ./run/rgbd_tum Vocabulary/ORBvoc.bin path_to_settings path_to_sequence path_to_association

```

# What are modified:

* adding a pointcloud viewer with loopclosing ( realized by adding a viewer thread )