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rubengooj / pl-slam-ros

PL-SLAM ROS Wrapper
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PL-SLAM ROS Wrapper

This code contains a simple ROS wrapper for it's use along with our stereo visual SLAM by using both point and line segment features project:

https://github.com/rubengooj/pl-slam

Notice that for representation purposes we are using our MRPT-based visualizer, but it can be used with any other representation class by modifying the project.

Usage:

./plslam

- file with the camera configuration - file with the VO configuration (optional) ### PerceptIn Sensor We also provide a modified version of the following repository: [https://github.com/Shuailing-Li/PerceptIn_ROS](https://github.com/Shuailing-Li/PerceptIn_ROS) to stream the PerceptIn stereo sensor. The repository can be found in: [https://github.com/rubengooj/PerceptIn_ROS](https://github.com/rubengooj/PerceptIn_ROS)