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141 Stars 56 Forks Other 15 Commits 7 Opened issues


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

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Update for unpacked ROB_SLAM with pcl view repo


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

only build the ORB_SLAM2 mode with pcl

    mkdir build
    cd build
    cmake ..
    make -j


    ./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 )

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