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electech6 / ORB_SLAM2_detailed_comments

Detailed comments for ORB-SLAM2 with trouble-shooting, key formula derivation, and diagrammatic drawing
GNU General Public License v3.0
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Ubuntu Support #1

Closed Zumbalamambo closed 4 years ago

Zumbalamambo commented 4 years ago

Is it possible to run this in ubuntu?

electech6 commented 4 years ago

Yes

Zumbalamambo commented 4 years ago

@electech6 thank you! how did you create a dense point cloud? Is it created using orb slam (monocular)?

electech6 commented 4 years ago

@electech6 thank you! how did you create a dense point cloud? Is it created using orb slam (monocular)? Original ORB-SLAM2 did not provide the code with dense point clouds. However, you can make it by yourself in RGBD mode. Here are some useful jobs for you. 1, ORBSLAM2_with_pointcloud_map https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map 2, ORB-SLAM2_RGBD_DENSE_MAP,modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model https://github.com/tiantiandabaojian/ORB-SLAM2_RGBD_DENSE_MAP