my_README.md

Update for unpacked ROB_SLAM with pcl view repo

download:

clone the package into {ros workspace}

build:

build libORB_SLAM2.so ( inclouding binary loading tools ):

Build libORB_SLAM2.so according to ORBSLAM2 origin repo.

Before the first compilaion, delete the build direciton in the root and thirdparty. And modify the location where save the pcd file in the "pcl::io::savePCDFileBinary" of the "pointcloudmapping.cc".

The Compile operation is as follows:

     cd {root_directory}
     chmod +x build.sh
     ./build.sh

build ROS rgbd

    cd {ros workspace}
    catkin_make

Run:

run rgbd without ROS

    cd {root_directory}
    ./bin/rgbd_tum Vocabulary/ORBvoc.bin  Examples/RGB-D/TUM1.yaml /home/zhjd/dataset/rgbd_dataset_freiburg1_desk /home/zhjd/dataset/rgbd_dataset_freiburg1_desk/associate.txt

run rgbd with ROS

    cd {ros workspace}
    source devel/setup.bash
    roslaunch orbslam2_pointcloud_ros rgbd_kinectdk.launch

TODO:

• 相机畸变参数的标定
• 单个物体的测试