pi-gslam / gslam_orbslam

This is a GSLAM plugin which implemented ORBSLAM.

GSLAM-ORBSLAM

1. Introduction

This code is the ORB_SLAM plugin implementation base on GSLAM.

2. Build and Install

2.1. Build and Install GSLAM

git clone https://github.com/zdzhaoyong/GSLAM

2.2. Build and Install GSLAM-ORBSLAM

mkdir build;
cd build;
cmake ..;
make;
sudo make install

3. Run ORBSLAM with gslam

gslam qviz orbslam -ORBVocabularyFile ../data/ORB_New.voc play -dataset /data/zhaoyong/Dataset/mav0/mono.euroc -autostart