This repository is modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model.
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
mkdir build cd build cmake .. make -j
./run/rgbd_tum Vocabulary/ORBvoc.bin path_to_settings path_to_sequence path_to_association