rginjapan / ORB-SLAM2_RGBD_DENSE_MAP

This repository is modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model.

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

     chmod +x build.sh
     ./build.sh

only build the ORB_SLAM2 mode with pcl

    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:

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