Taichi83 / ORB_SLAM2_OSX

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

ORB-SLAM2 (for OSX)

Authors: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2)

• Forked from https://github.com/raulmur/ORB_SLAM2 and https://github.com/meiroo/ORBSLAM2-OSX

• This is ORB-SLAM2 for Xcode & Max OSX. No drawing modules like Pangolin is needed. Most of the port work comes from his github and [blog] (http://zhuanlan.zhihu.com/computercoil/20589372).

Usage

1. Download from github
2. Open Xcode/ORB_SLAM2.xcworkspace with Xcode
3. Copy all files in Data folder to /User/Data/
4. Build & Run!

Changes

• Pangolin removed, MapDrawer FrameDrawer removed.
• Cmake system removed, open Xcode/ORB_SLAM2.xcworkspace and build system with dependencies.
• Binnary dictionary to speed up loading (from https://github.com/poine/ORB_SLAM2)
• Camera capture instead of datasets
• OpenCV's camera calibration tools added