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)