# ORB-SLAM2_RGBD_DENSE_MAP

**Repository Path**: publiagent123/ORB-SLAM2_RGBD_DENSE_MAP

## Basic Information

- **Project Name**: ORB-SLAM2_RGBD_DENSE_MAP
- **Description**: This repository is modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model.
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-05-14
- **Last Updated**: 2024-06-06

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 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](https://github.com/raulmur/ORB_SLAM2) and place it into dir ./Vocabulary

```bash
     chmod +x build.sh
     ./build.sh
```

### only build the ORB_SLAM2 mode with pcl

```bash
    mkdir build
    cd build
    cmake ..
    make -j
```

## Run:

```bash
    ./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 )