TINY-KE / ORBSLAM_pointcloud

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 and place it into dir ./Vocabulary

     cd YourDirectory/ORBSLAM2_with_pointcloud_map
     chmod +x build.sh
     ./build.sh

only build the ORB_SLAM2 mode with pcl

    cd YourDirectory/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified
    mkdir build
    cd build
    cmake ..
    make -j

Run:

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

What are modified:

• changing the vocabulary loading method into binary mod

• adding a pointcloud viewer( realized by adding a viewer thread )

• changing the CMakeLists.txt that all the executable files are placed in ./bin